DF ROBOT ROB0118 Bedienungsanleitung



BasicKitforTurtle2WDSKU:ROB0118

FunctionIntroduction

This Kit will teach you how to build a automatic obstacle - avoidance robot which is achieved on the

platform of the Turtle Robot,based on ultrasonic sensor as distance measuring device,and combined

with servo.

STEP1:AssembleRobot

Refer to Instruction Manual

http://www.dfrobot.com.cn/image/data/ROB0005/CN/ROB0005%20InstructionManual%20V1.1.pdf

Precautions:

1. Instruction Manual says nothing about how to deal with motor wire. The next pictrue tells it.

2. Finished the robot chassis.Then following the connection diagram to wire the hardware.

Motor Connection

Physical map

STEP2:DebugMotor

Download the Code

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);

}

STEP3：InstallUpperPlate

1. Prepare the Materials

2. Fixed Ultrasonic Sensor Position

Please see the Installation Manual

http://www.dfrobot.com.cn/images/upload/File/20141030183325g7lofm.pdf

3. Fixed Servo Position

STEP4:DebugUltrasonicSensorandServo

1. Hardware Connection

Ultrasonic Sensor and Servo Controll

2. Download Code

Install the library firstly. Metro libray http://www.dfrobot.com.cn/images/upload/File/20141031110246wu4065.rar

#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 comm

and

for(int i=0;i<4;i++){

Serial.write(EnPwmCmd[i]);

}

int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a se

nsor 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 po

sition in variable 'pos'

}

if(pos>119) sweepFlag = false; // assign the var

iable again

}else {

if(pos>=60 && pos<=120){

pos=pos-1;

myservo.write(pos);

}

if(pos<61) sweepFlag = true;

}

STEP5:DebuggingRobot

#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{

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