DFRobot ROB0118 User Manual



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

3. Fixed Servo Position

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

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{

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 comm

and
for(int i=0;i<4;i++){
Serial.write(EnPwmCmd[i]);
}
}

int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a sensor r
eading

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 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;
}
}

Your own car was born!

https://www.dfrobot.com/wiki/index.php/Basic_Kit_for_Turtle_2WD_SKU:ROB0118 6-1-17