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Sie befinden sich in: Unterrichtsangebote Fächer Fachbereich III Informatik WU_Info Arduino 2019-20 Leu, Emily Arduino Roboter Blinker

Blinker

Fernbdienung vom Roboter umprogrammieren

Material:

 

Beschreibung:

Zuerst habe ich alle LEDs mit jeweils einem Widerstand (an die Anode) und zwei Kabeln (eins an den Widerstand und das andere an die Kathode) gelötet. Dann habe ich in die obere Platte des Roboters zwei Löcher vorne und 4 Löcher (2 vorne / 2 hinten) in die untere Plattform gebort. Die LEDs habe ich lediglich durch die Löcher gefedelt und angebracht. Ich habe die rechte Hälfte der LEDs über das Breadboard mit einem Kabel an den Pin A1 und die linke Hälfte an den Pin A0 angeschlossen. Zum Schluss habe ich das fertige Programm der Fernbedienung genommen und die Programme für die rechte und linke Hälfte der LEDs und einmal für beide Seiten hinzugefügt, sodass ich über die Fernbedienung rechts und links blinken kann und auch eine Warnblinkanlage habe.

Alles was ich hinzugefügt habe, habe ich gelb markiert.

 

Programm:

#include <Servo.h>

#include <boarddefs.h>
#include <IRremote.h>
#include <IRremoteInt.h>
#include <ir_Lego_PF_BitStreamEncoder.h>

#define f 16736925    // FORWARD
#define b 16754775   // BACK
#define l 16720605    // LEFT
#define r 16761405    // RIGHT
#define s 16712445    // STOP
#define KEY1 16738455   //Line Teacking mode
#define KEY2 16750695   //Obstacles Avoidance mode
#define KEY3 16756815
#define KEY4 16724175   //blinker links
#define KEY5 16718055   //Warnblinker
#define KEY6 16743045   //blinker rechts
#define KEY7 16716015
#define KEY8 16726215
#define KEY9 16734885
#define KEY0 16730805
#define KEY_STAR 16728765
#define KEY_HASH 16732845

#define RECV_PIN  12
#define ECHO_PIN  A4  
#define TRIG_PIN  A5
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define LED_Pin 13
#define LineTeacking_Pin_Right  10
#define LineTeacking_Pin_Middle 4
#define LineTeacking_Pin_Left   2
#define LineTeacking_Read_Right   !digitalRead(10)
#define LineTeacking_Read_Middle  !digitalRead(4)
#define LineTeacking_Read_Left    !digitalRead(2)
#define carSpeed 250

int LEDPaarRechts = A1;
int LEDPaarLinks = A0;

Servo servo;
IRrecv irrecv(RECV_PIN);
decode_results results;
unsigned long IR_PreMillis;
unsigned long LT_PreMillis;
int rightDistance = 0, leftDistance = 0, middleDistance = 0;

enum FUNCTIONMODE{
  IDLE,
  LineTeacking,
  ObstaclesAvoidance,
  Bluetooth,
  IRremote
} func_mode = IDLE;

enum MOTIONMODE {
  STOP,
  FORWARD,
  BACK,
  LEFT,
  RIGHT,
  blinkerRechts,
  blinkerLinks,
  alleBlinker
} mov_mode = STOP;

void delays(unsigned long t) {
  for(unsigned long i = 0; i < t; i++) {
    getBTData();
    getIRData();
    delay(1);
  }
}

int getDistance() {
  digitalWrite(TRIG_PIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  return (int)pulseIn(ECHO_PIN, HIGH) / 58;
}

void forward(bool debug = false){
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  if(debug) Serial.println("Go forward!");
}

void back(bool debug = false){
  analogWrite(ENA, carSpeed);
  analogWrite(ENB, carSpeed);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  if(debug) Serial.println("Go back!");
}

void left(bool debug = false){
  analogWrite(ENA,carSpeed);
  analogWrite(ENB,carSpeed);
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  if(debug) Serial.println("Go left!");
}

void right(bool debug = false){
  analogWrite(ENA,carSpeed);
  analogWrite(ENB,carSpeed);
  digitalWrite(IN1,HIGH);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,HIGH);
  digitalWrite(IN4,LOW);
  if(debug) Serial.println("Go right!");
}

void stop(bool debug = false){
  digitalWrite(ENA, LOW);
  digitalWrite(ENB, LOW);
  if(debug) Serial.println("Stop!");
}

void getBTData() {
  if(Serial.available()) {
    switch(Serial.read()) {
      case 'f': func_mode = Bluetooth; mov_mode = FORWARD;  break;
      case 'b': func_mode = Bluetooth; mov_mode = BACK;     break;
      case 'l': func_mode = Bluetooth; mov_mode = LEFT;     break;
      case 'r': func_mode = Bluetooth; mov_mode = RIGHT;    break;
      case 's': func_mode = Bluetooth; mov_mode = STOP;     break;
      case '1': func_mode = LineTeacking;                   break;
      case '2': func_mode = ObstaclesAvoidance;             break;
      case '4':  func_mode = Bluetooth; mov_mode = blinkerLinks; break;
      case '5':  func_mode = Bluetooth; mov_mode = alleBlinker;  break;
      case '6':  func_mode = Bluetooth; mov_mode = blinkerRechts;break;
      default:  break;
    }
  }
}

void getIRData() {
  if (irrecv.decode(&results)){
    IR_PreMillis = millis();
    switch(results.value){
      case f:   func_mode = IRremote; mov_mode = FORWARD;  break;
      case b:   func_mode = IRremote; mov_mode = BACK;     break;
      case l:   func_mode = IRremote; mov_mode = LEFT;     break;
      case r:   func_mode = IRremote; mov_mode = RIGHT;    break;
      case s:   func_mode = IRremote; mov_mode = STOP;     break;
      case KEY1:  func_mode = LineTeacking;                break;
      case KEY2:  func_mode = ObstaclesAvoidance;          break;
      case KEY4:  func_mode = IRremote; mov_mode = blinkerLinks; break;
      case KEY5:  func_mode = IRremote; mov_mode = alleBlinker;  break;
      case KEY6:  func_mode = IRremote; mov_mode = blinkerRechts; break;
      default: break;
    }
    irrecv.resume();
  }
}

void bluetooth_mode() {
  if(func_mode == Bluetooth){
    switch(mov_mode){
      case FORWARD: forward();  break;
      case BACK:    back();     break;
      case LEFT:    left();     break;
      case RIGHT:   right();    break;
      case STOP:    stop();     break;
      case blinkerLinks: blinker_links(); break;
      case alleBlinker: alle_blinker(); break;
      case blinkerRechts: blinker_rechts(); break;
      default: break;
    }
  }
}

void irremote_mode() {
  if(func_mode == IRremote){
    switch(mov_mode){
      case FORWARD: forward();  break;
      case BACK:    back();     break;
      case LEFT:    left();     break;
      case RIGHT:   right();    break;
      case STOP:    stop();     break;
      case blinkerLinks: blinker_links(); break;
      case alleBlinker: alle_blinker(); break;
      case blinkerRechts: blinker_rechts(); break;
      default: break;
    }
    if(millis() - IR_PreMillis > 500){
      mov_mode = STOP;
      IR_PreMillis = millis();
    }
  }   
}

void line_teacking_mode() {
  if(func_mode == LineTeacking){
    if(LineTeacking_Read_Middle){
      forward();
      LT_PreMillis = millis();
    } else if(LineTeacking_Read_Right) {
      right();
      while(LineTeacking_Read_Right) {
        getBTData();
        getIRData();
      }
      LT_PreMillis = millis();
    } else if(LineTeacking_Read_Left) {
      left();
      while(LineTeacking_Read_Left) {
        getBTData();
        getIRData();
      }
      LT_PreMillis = millis();
    } else {
      if(millis() - LT_PreMillis > 150){
        stop();
      }
    }
  }  
}

void obstacles_avoidance_mode() {
  if(func_mode == ObstaclesAvoidance){
    servo.write(90);
    delays(500);
    middleDistance = getDistance();
    if(middleDistance <= 40) {
      stop();
      delays(500);
      servo.write(10);
      delays(1000);
      rightDistance = getDistance();
      
      delays(500);
      servo.write(90);
      delays(1000);
      servo.write(170);
      delays(1000);
      leftDistance = getDistance();
      
      delays(500);
      servo.write(90);
      delays(1000);
      if(rightDistance > leftDistance) {
        right();
        delays(360);
      } else if(rightDistance < leftDistance) {
        left();
        delays(360);
      } else if((rightDistance <= 40) || (leftDistance <= 40)) {
        back();
        delays(180);
      } else {
        forward();
      }
    } else {
        forward();
    }  
  }  
}
void blinker_links (){
  if(mov_mode == blinkerLinks){
  digitalWrite(LEDPaarLinks,HIGH);
  delay(500);
  digitalWrite(LEDPaarLinks,LOW);
  delay(500);
  digitalWrite(LEDPaarLinks,HIGH);
  delay(500);
  digitalWrite(LEDPaarLinks,LOW);
  delay(500);
  digitalWrite(LEDPaarLinks,HIGH);
  delay(500);
  digitalWrite(LEDPaarLinks,LOW);
  delay(500);
  digitalWrite(LEDPaarLinks,HIGH);
  delay(500);
  digitalWrite(LEDPaarLinks,LOW);
  }
}
void alle_blinker () {
  if(mov_mode == alleBlinker){
  digitalWrite(LEDPaarRechts,HIGH);
  digitalWrite(LEDPaarLinks,HIGH);
  delay(500);
  digitalWrite(LEDPaarRechts,LOW);
  digitalWrite(LEDPaarLinks,LOW);
  delay(500);
  digitalWrite(LEDPaarRechts,HIGH);
  digitalWrite(LEDPaarLinks,HIGH);
  delay(500);
  digitalWrite(LEDPaarRechts,LOW);
  digitalWrite(LEDPaarLinks,LOW);
  delay(500);
  digitalWrite(LEDPaarRechts,HIGH);
  digitalWrite(LEDPaarLinks,HIGH);
  delay(500);
  digitalWrite(LEDPaarRechts,LOW);
  digitalWrite(LEDPaarLinks,LOW);
  delay(500);
  digitalWrite(LEDPaarRechts,HIGH);
  digitalWrite(LEDPaarLinks,HIGH);
  delay(500);
  digitalWrite(LEDPaarRechts,LOW);
  digitalWrite(LEDPaarLinks,LOW);
  }
}
void blinker_rechts(){
  if(mov_mode == blinkerRechts){
  digitalWrite(LEDPaarRechts,HIGH);
  delay(500);
  digitalWrite(LEDPaarRechts,LOW);
  delay(500);
  digitalWrite(LEDPaarRechts,HIGH);
  delay(500);
  digitalWrite(LEDPaarRechts,LOW);
  delay(500);
  digitalWrite(LEDPaarRechts,HIGH);
  delay(500);
  digitalWrite(LEDPaarRechts,LOW);
  delay(500);
  digitalWrite(LEDPaarRechts,HIGH);
  delay(500);
  digitalWrite(LEDPaarRechts,LOW);
  }
}

void setup() {
  Serial.begin(9600);
  servo.attach(3,500,2400);// 500: 0 degree  2400: 180 degree
  servo.write(90);
  irrecv.enableIRIn();
  pinMode(ECHO_PIN, INPUT);
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
  pinMode(LineTeacking_Pin_Right, INPUT);
  pinMode(LineTeacking_Pin_Middle, INPUT);
  pinMode(LineTeacking_Pin_Left, INPUT);
  pinMode(LEDPaarLinks, OUTPUT);
  pinMode(LEDPaarRechts, OUTPUT);
 
}

void loop() {
  getBTData();
  getIRData();
  bluetooth_mode();
  irremote_mode();
  line_teacking_mode();
  obstacles_avoidance_mode();
  blinker_links();
  alle_blinker();
  blinker_rechts();
}

Erstellt: Emily Leu (29.04.2020) Letzte Änderung: Emily Leu (29.04.2020)