(SKU:ROB0118)3PA基础套件
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目录 |
功能介绍
以3PA小车为平台,用超声波作为距离检测装置,舵机作为前方扫描器,实现一个可自动蔽障小车。
STEP1:组装小车
参照安装说明。
注意事项:
1. 在安装说明中没有说明电机电源线连接,建议安装前先将电机的电源线焊接好。便于之后安装。
2. 安装完底盘之后,按下图连接电机线和电源线。
STEP2:调试电机
下载电机调试代码
int speedPin_M1 = 5; //M1 Speed Control int speedPin_M2 = 6; //M2 Speed Control int directionPin_M1 = 4; //M1 Direction Control int directionPin_M2 = 7; //M1 Direction Control void setup(){ } void loop(){ carAdvance(100,100); delay(1000); carBack(100,100); delay(1000); carTurnLeft(250,250); delay(1000); carTurnRight(250,250); delay(1000); } void carStop(){ // Motor Stop digitalWrite(speedPin_M2,0); digitalWrite(directionPin_M1,LOW); digitalWrite(speedPin_M1,0); digitalWrite(directionPin_M2,LOW); } void carAdvance(int leftSpeed,int rightSpeed){ //Move forward analogWrite (speedPin_M2,leftSpeed); //PWM Speed Control digitalWrite(directionPin_M1,HIGH); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); } void carBack(int leftSpeed,int rightSpeed){ //Move backward analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); } void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); } void carTurnLeft(int leftSpeed,int rightSpeed){ //Turn Left analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,HIGH); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); }
上电后发现,如果发现效果与代码不匹配,可以对代码做一下微调整。直到匹配为止,才进行下一步。
STEP3:安装上层板
1. 准备材料
2. 固定超声波位置
可以参看超声波扫描套件的安装手册
3. 固定舵机位置
STEP4: 调试超声波和舵机
1. 硬件连接
安装超声波传感器和支架时,需要把超声波传感器按到底,探头需要露出。 |
2. 下载代码
下载代码之前需要安装Metro libray
如何加载库,可见链接
#include <Servo.h> #include <Metro.h> Metro measureDistance = Metro(50); Metro sweepServo = Metro(20); unsigned long actualDistance = 0; Servo myservo; // create servo object to control a servo int pos = 60; int sweepFlag = 1; int URPWM = 3; // PWM Output 0-25000US,Every 50US represent 1cm int URTRIG= 10; // PWM trigger pin uint8_t EnPwmCmd[4]={0x44,0x02,0xbb,0x01}; // distance measure command void setup(){ // Serial initialization myservo.attach(9); Serial.begin(9600); // Sets the baud rate to 9600 SensorSetup(); } void loop(){ if(measureDistance.check() == 1){ actualDistance = MeasureDistance(); // Serial.println(actualDistance); // delay(100); } if(sweepServo.check() == 1){ servoSweep(); } } void SensorSetup(){ pinMode(URTRIG,OUTPUT); // A low pull on pin COMP/TRIG digitalWrite(URTRIG,HIGH); // Set to HIGH pinMode(URPWM, INPUT); // Sending Enable PWM mode command for(int i=0;i<4;i++){ Serial.write(EnPwmCmd[i]); } } int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a sensor reading digitalWrite(URTRIG, LOW); digitalWrite(URTRIG, HIGH); // reading Pin PWM will output pulses unsigned long distance=pulseIn(URPWM,LOW); if(distance==50000){ // the reading is invalid. Serial.print("Invalid"); }else{ distance=distance/50; // every 50us low level stands for 1cm } return distance; } void servoSweep(){ if(sweepFlag ){ if(pos>=60 && pos<=120){ pos=pos+1; // in steps of 1 degree myservo.write(pos); // tell servo to go to position in variable 'pos' } if(pos>119) sweepFlag = false; // assign the variable again }else { if(pos>=60 && pos<=120){ pos=pos-1; myservo.write(pos); } if(pos<61) sweepFlag = true; } }
3. 调试舵机位置
方法一:可重新安装舵盘
方法二:代码中角度做相应修改
STEP5: 整机调试
下载整机调试代码
#include <Servo.h> #include <Metro.h> Metro measureDistance = Metro(50); Metro sweepServo = Metro(20); int speedPin_M1 = 5; //M1 Speed Control int speedPin_M2 = 6; //M2 Speed Control int directionPin_M1 = 4; //M1 Direction Control int directionPin_M2 = 7; //M1 Direction Control unsigned long actualDistance = 0; Servo myservo; // create servo object to control a servo int pos = 60; int sweepFlag = 1; int URPWM = 3; // PWM Output 0-25000US,Every 50US represent 1cm int URTRIG= 10; // PWM trigger pin uint8_t EnPwmCmd[4]={0x44,0x02,0xbb,0x01}; // distance measure command void setup(){ // Serial initialization myservo.attach(9); Serial.begin(9600); // Sets the baud rate to 9600 SensorSetup(); } void loop(){ if(measureDistance.check() == 1){ actualDistance = MeasureDistance(); // Serial.println(actualDistance); // delay(100); } if(sweepServo.check() == 1){ servoSweep(); } if(actualDistance <= 30){ myservo.write(90); if(pos>=90){ // carBack(100,100); //// Serial.println("carBack"); // delay(100); carTurnRight(150,150); // Serial.println("carTurnRight"); delay(100); }else{ // carBack(100,100); //// Serial.println("carBack"); // delay(100); carTurnLeft(150,150); // Serial.println("carTurnLeft"); delay(100); } }else{ carAdvance(70,70); // Serial.println("carAdvance"); delay(100); } // carBack(150,150); } void SensorSetup(){ pinMode(URTRIG,OUTPUT); // A low pull on pin COMP/TRIG digitalWrite(URTRIG,HIGH); // Set to HIGH pinMode(URPWM, INPUT); // Sending Enable PWM mode command for(int i=0;i<4;i++){ Serial.write(EnPwmCmd[i]); } } int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a sensor reading digitalWrite(URTRIG, LOW); digitalWrite(URTRIG, HIGH); // reading Pin PWM will output pulses unsigned long distance=pulseIn(URPWM,LOW); if(distance==50000){ // the reading is invalid. Serial.print("Invalid"); }else{ distance=distance/50; // every 50us low level stands for 1cm } return distance; } void carStop(){ // Motor Stop digitalWrite(speedPin_M2,0); digitalWrite(directionPin_M1,LOW); digitalWrite(speedPin_M1,0); digitalWrite(directionPin_M2,LOW); } void carAdvance(int leftSpeed,int rightSpeed){ //Move forward analogWrite (speedPin_M2,leftSpeed); //PWM Speed Control digitalWrite(directionPin_M1,HIGH); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); } void carBack(int leftSpeed,int rightSpeed){ //Move backward analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); } void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); } void carTurnLeft(int leftSpeed,int rightSpeed){ //Turn Left analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,HIGH); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); } void servoSweep(){ if(sweepFlag){ if(pos>=60 && pos<=120){ pos=pos+1; // in steps of 1 degree myservo.write(pos); // tell servo to go to position in variable 'pos' } if(pos>119) sweepFlag = false; // assign the variable again } else { if(pos>=60 && pos<=120){ pos=pos-1; myservo.write(pos); } if(pos<61) sweepFlag = true; } }
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