{"id":285,"date":"2013-06-15T01:25:18","date_gmt":"2013-06-14T19:25:18","guid":{"rendered":"http:\/\/markwheeler.com\/wordpress\/?p=285"},"modified":"2013-06-15T01:25:18","modified_gmt":"2013-06-14T19:25:18","slug":"arduino-uno-r3-robot-rover","status":"publish","type":"post","link":"https:\/\/markwheeler.com\/?p=285","title":{"rendered":"Arduino Uno R3 Robot Rover"},"content":{"rendered":"

\"myRover\"<\/a><\/p>\n

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Arduino Uno R3<\/a><\/p>\n

Arduino Motor Shield r3<\/a><\/p>\n

HC-SR04 Distance Sensor<\/a> – using the NewPing library<\/a><\/p>\n

SainSmart 4WD Chassis<\/a><\/p>\n

Standard Servo<\/a> (* Not Continous 360)<\/p>\n

#include <NewPing.h>
\n#include <Servo.h><\/p>\n

#define SENSOR_TRIG_PIN 7
\n#define SENSOR_ECHO_PIN 6
\n#define SENSOR_MIN_DIST 40
\n#define SENSOR_MAX_DIST 200<\/p>\n

#define MOTOR_CH_A 12
\n#define BRAKE_CH_A 9
\n#define SPEED_CH_A 3<\/p>\n

#define MOTOR_CH_B 13
\n#define BRAKE_CH_B 8
\n#define SPEED_CH_B 11<\/p>\n

#define HI_SPEED 255
\n#define LO_SPEED 128<\/p>\n

NewPing sonar(SENSOR_TRIG_PIN, SENSOR_ECHO_PIN, SENSOR_MAX_DIST);<\/p>\n

\/\/ servo stuff:
\nint pos = 0;
\nint servoCenter = 45;
\nint servoRight = 90; \/\/ how far right? Max is 180, full right.
\nint servoLeft = 0; \/\/ how far left? Min is 0, full left.<\/p>\n

Servo myservo; \/\/ create servo object to control a servo
\n\/\/ a maximum of eight servo objects can be created
\nvoid setup() {
\nSerial.begin(9600);<\/p>\n

pinMode(MOTOR_CH_A, OUTPUT);
\npinMode(BRAKE_CH_A, OUTPUT);
\npinMode(SPEED_CH_A, OUTPUT);<\/p>\n

pinMode(MOTOR_CH_B, OUTPUT);
\npinMode(BRAKE_CH_B, OUTPUT);
\npinMode(SPEED_CH_B, OUTPUT);<\/p>\n

myservo.attach(5); \/\/ attaches the servo on pin 5 to the servo object
\nmyservo.write(servoCenter); \/\/ center it by default
\n}<\/p>\n

void loop() {
\n\/\/ delay(50);
\nint ping = sonar.ping_cm();
\nint dir;
\nSerial.println(ping);<\/p>\n

if ( ping > SENSOR_MIN_DIST ) {
\ngo_forward();
\n}<\/p>\n

if ( ping <= SENSOR_MIN_DIST ) {<\/p>\n

\/\/ if ( ping != 0 ) {
\nbrake();
\ndelay(20);
\ndir = go_look();
\ndelay(20);
\ngo_backwards();
\ndelay(650);
\n\/\/ be smart about turn direction<\/p>\n

if (dir = 1) {
\nSerial.println(“Left is blocked – going right.”);
\nSerial.println(dir);
\nturn_right();
\ndelay(550);
\n}
\nif (dir = 2) {
\nSerial.println(“Right is blocked – going left.”);
\nSerial.println(dir);
\nturn_left();
\ndelay(550);
\n}<\/p>\n

brake();
\ndelay(20);
\n\/\/ }<\/p>\n

 <\/p>\n

}
\n}<\/p>\n

int go_look () {
\n\/\/ look both ways for better path
\nmyservo.write(servoRight);
\nint anglel = myservo.read();
\nSerial.println(anglel);<\/p>\n

delay(1000);<\/p>\n

myservo.write(servoLeft);
\nint angler = myservo.read();
\nSerial.println(angler);
\ndelay(1000);<\/p>\n

myservo.write(servoCenter);
\nint anglec = myservo.read();
\nSerial.println(anglec);<\/p>\n

if ( anglel <= SENSOR_MIN_DIST ) {
\nreturn 1;
\n}
\nif ( angler <= SENSOR_MIN_DIST ) {
\nreturn 2;
\n}
\n}<\/p>\n

void go_forward() {
\nSerial.println(“Going forward…”);<\/p>\n

digitalWrite(MOTOR_CH_A, HIGH);
\ndigitalWrite(BRAKE_CH_A, LOW);
\nanalogWrite(SPEED_CH_A, HI_SPEED);<\/p>\n

digitalWrite(MOTOR_CH_B, HIGH);
\ndigitalWrite(BRAKE_CH_B, LOW);
\nanalogWrite(SPEED_CH_B, HI_SPEED);
\n}<\/p>\n

void go_backwards() {
\nSerial.println(“Going back…”);<\/p>\n

digitalWrite(MOTOR_CH_A, LOW);
\ndigitalWrite(BRAKE_CH_A, LOW);
\nanalogWrite(SPEED_CH_A, LO_SPEED);<\/p>\n

digitalWrite(MOTOR_CH_B, LOW);
\ndigitalWrite(BRAKE_CH_B, LOW);
\nanalogWrite(SPEED_CH_B, HI_SPEED);
\n}<\/p>\n

void turn_left() {
\nSerial.println(“Going left…”);
\ndigitalWrite(BRAKE_CH_A, LOW);
\nanalogWrite(SPEED_CH_A, HI_SPEED);
\ndigitalWrite(MOTOR_CH_B, HIGH);
\ndigitalWrite(BRAKE_CH_B, LOW);
\nanalogWrite(SPEED_CH_B, HI_SPEED);
\n}<\/p>\n

void turn_right() {
\nSerial.println(“Going right…”);<\/p>\n

digitalWrite(MOTOR_CH_A, HIGH);
\ndigitalWrite(BRAKE_CH_A, LOW);
\nanalogWrite(SPEED_CH_A, HI_SPEED);
\ndigitalWrite(BRAKE_CH_B, LOW);
\nanalogWrite(SPEED_CH_B, HI_SPEED);
\n}<\/p>\n

void brake() {
\nSerial.println(“Braking…”);<\/p>\n

digitalWrite(BRAKE_CH_A, HIGH);
\ndigitalWrite(BRAKE_CH_B, HIGH);
\n}
\n