Paso 5: programación
Lo que hace
- El programa impulsará el robot hasta que uno de los bigotes encuentra algo, él entonces invertir de 500 milisegundos después aleatoriamente girar izquierda o derecha para un tiempo de entre 300 y 1500 milisegundos, antes de seguir adelante con otro obstáculo.
Para aquellos interesados en conseguir simplemente que allí son dos opciones.
Opción 1 - descargar y descomprimir
- Descargar el archivo zip adjunto (07_SERB_Whiskers.zip)
- Descomprímalo en el directorio de sketch de Arduino (por defecto /My documentos/Arduino /)
- Iniciar el entorno de Arduino y cargar el bosquejo (_SERB_Whiskers)
- subir y empezar a jugar
Opción 2 - copiar y pegar
- Copie el código de Arduino desde abajo
- Péguelo en el entorno de desarrollo Arduino.
- subir y empezar a jugar
Apéndice 1 - código de Arduino (_SERB_Whiskers)
/***************************************************************** * Arduino Controlled Servo Robot (SERB) - Whisker Avoidance * * For more details visit: http://www.oomlout.com/serb * * * * Behaviour: Uses two wire whiskers, to bump into obstacles and * * change direction accordingly. It will poll the * * whiskers and when one is found to be tripped it * * will reverse for 500 milliseconds then * * turn randomly left or right for a random time * * between 300 and 1500 milliseconds * * * * Wiring: --Arduino Controlled Servo Robot-- * * Right Servo Signal - pin 9 * * Left Servo Signal - pin 10 * * --Whisker Wiring-- * * right whisker - pin 6 * * left whisker - pin 7 * * whisker common - ground * * * * License: This work is licenced under the Creative Commons * * Attribution-Share Alike 3.0 Unported License. To * * view a copy of this licence, visit * * http://creativecommons.org/licenses/by-sa/3.0/ * * or send a letter to Creative Commons, 171 Second * * Street, Suite 300, San Francisco, California 94105, * * USA. * * * ****************************************************************///----------------------------------------------------------------// START OF WHISKER PREAMBLE#define RIGHTWHISKER 6 //the pin the right whisker is attached to#define LEFTWHISKER 7 //the pin the left whisker is attached to//----------------------------------------------------------------// START OF ARDUINO CONTROLLED SERVO ROBOT (SERB) PREAMBLE#include <Servo.h>#define LEFTSERVOPIN 10 //The pin the left Servo is connected to#define RIGHTSERVOPIN 9 //The pin the right Servo is connected to#define MAXSPEED 30 //due to the way continuous rotation servos //work maximum speed is reached at a much //lower value than 90 (this value will change //depending on your servos) (for Parallax servos) //20 will give you full range 10 makes it very //controllable but a little slowServo leftServo; Servo rightServo; int leftSpeed; //sets the speed of the robot (left servos) //a percentage between -MAXSPEED and MAXSPEEDint rightSpeed; //sets the speed of the robot (both servos) //a percentage between -MAXSPEED and MAXSPEEDint speed = 100; //used for simple control (goForward etc.) //a percentage between 0 and MAXSPEED// END OF THIS PROGRAMS PREAMBLE//----------------------------------------------------------------void setup(){ beginSerial (9600); //Starts the serial port serbSetup(); //adds the servos and prepares all //SERB related variables whiskerSetup(); }/* * The main loop * Sends the robot forward then checks it's whiskers, if one is pressed * the robot will reverse then turn and head forward once more */void loop(){ goForward(); //sends the robot forward checkWhiskers(); //checks to see if a whisker is pressed}//------------------------------------------------------------------------//START WHISKER ROUTINESvoid whiskerSetup(){ pinMode(RIGHTWHISKER, INPUT); //Sets the right whisker's pin to be an input pinMode(LEFTWHISKER, INPUT); //Sets the left whisker's pin to be an input digitalWrite(RIGHTWHISKER, HIGH);//Sets the right whisker pin's internal pullup //resistor (this means the pin is high when //there is no signal attached and reads low //when a negative signal is attached digitalWrite(LEFTWHISKER, HIGH);//Sets the left whisker pin's internal pullup //resistor}void checkWhiskers(){ if(!digitalRead(RIGHTWHISKER)){reverseAndTurn();} //if the right whisker is pressed //then reverse and turn if(!digitalRead(LEFTWHISKER)){reverseAndTurn();} //if the left whisker is pressed //then reverse and turn}void reverseAndTurn(){ goBackward(); //goes backward delay(500); //for half a second turnRandom(300,1500); //turns randomly for a time between 300 and 1500 milliseconds}//END OF WHISKER ROUTINES//------------------------------------------------------------------------//------------------------------------------------------------------------//START OF ARDUINO CONTROLLED SERVO ROBOT (SERB) ROUTINES/* * sets up your arduino to address your SERB using the included * routines */void serbSetup(){ setSpeed(speed); pinMode(LEFTSERVOPIN, OUTPUT); //sets the left servo signal pin //to output pinMode(RIGHTSERVOPIN, OUTPUT); //sets the right servo signal pin //to output leftServo.attach(LEFTSERVOPIN); //attaches left servo rightServo.attach(RIGHTSERVOPIN); //attaches right servo goStop();}/* * sets the speed of the robot between 0-(stopped) and 100-(full speed) * NOTE: speed will not change the current speed you must change speed * then call one of the go methods before changes occur. */void setSpeed(int newSpeed){ if(newSpeed >= 100) { newSpeed = 100; } //if speed is greater than 100 //make it 100 if(newSpeed <= 0) { newSpeed = 0; } //if speed is less than 0 make //it 0 speed = newSpeed * MAXSPEED / 100; //scales the speed to be //between 0 and MAXSPEED}/* * sets the speed of the robots rightServo between -100-(reversed) and 100-(forward) * NOTE: calls to this routine will take effect imediatly */void setSpeedRight(int newSpeed){ if(newSpeed >= 100) { newSpeed = 100; } //if speed is greater than 100 //make it 100 if(newSpeed <= -100) { newSpeed = -100; } //if speed is less than -100 make //it -100 rightSpeed = newSpeed * MAXSPEED / 100; //scales the speed to be //between -MAXSPEED and MAXSPEED rightServo.write(90 - rightSpeed); //sends the new value to the servo}/* * sets the speed of the robots leftServo between -100-(reversed) and 100-(forward) * NOTE: calls to this routine will take effect immediatly */void setSpeedLeft(int newSpeed){ if(newSpeed >= 100) {newSpeed = 100;} //if speed is greater than 100 //make it 100 if(newSpeed <= -100){newSpeed = -100;}//if speed is less than -100 //make it -100 leftSpeed = newSpeed * MAXSPEED / 100;//scales the speed to be //between -MAXSPEED and MAXSPEED leftServo.write(90 + leftSpeed); //sends the new value to the servo}/* * turns the robot randomly left or right for a random time period between * minTime (milliseconds) and maxTime (milliseconds) */void turnRandom(int minTime, int maxTime){ int choice = random(2); //Random number to decide //between left (1) and right (0) int turnTime = random(minTime,maxTime); //Random number for the pause //time if(choice == 1){ goLeft();} //If random number = 1 then turn //left else {goRight();} //If random number = 0 then turn //right delay(turnTime); //delay for random time }/* * sends the robot forwards */void goForward(){ leftServo.write(90 + speed); rightServo.write(90 - speed);}/* * sends the robot backwards */void goBackward(){ leftServo.write(90 - speed); rightServo.write(90 + speed);}/* * sends the robot right */void goRight(){ leftServo.write(90 + speed); rightServo.write(90 + speed);}/* * sends the robot left */void goLeft(){ leftServo.write(90 - speed); rightServo.write(90 - speed);}/* * stops the robot */void goStop(){ leftServo.write(90); rightServo.write(90);}//END OF ARDUINO CONTROLLED SERVO ROBOT (SERB) ROUTINES//---------------------------------------------------------------------------
