How it Works
Keyestudio
Loading...
4WD Bluetooth Multi-functional Car
User Manual
151 pgs5.93 Mb0

Keyestudio 4WD Bluetooth Multi-functional Car User Manual

Download
keyestudio
keyestudio 4WD Bluetooth Multi-functional Car
www.keyestudio.cc
keyestudio
Content
1. Introduction .............................................................................................................................................................................................................................................. 1
2. Parameters ................................................................................................................................................................................................................................................ 1
3. Project List ............................................................................................................................................................................................................................................... 2
4. BOM ........................................................................................................................................................................................................................................................ 3
5. Installation Method .................................................................................................................................................................................................................................. 9
6. Address of Assembly Video ................................................................................................................................................................................................................... 29
7. Address of Demonstration Video ........................................................................................................................................................................................................... 29
8. Project Details ........................................................................................................................................................................................................................................ 30
Project 1:Line Tracking Sensor .......................................................................................................................................................................................................... 30
Project 2: Ultrasonic Sensor ............................................................................................................................................................................................................... 34
Project 3: Digital IR Receiver Module ............................................................................................................................................................................................. 40
Project 4: Servo Motor ....................................................................................................................................................................................................................... 45
Project 5: Bluetooth Module .............................................................................................................................................................................................................. 52
Project 6: L298N Motor Driver ......................................................................................................................................................................................................... 57
Project 7：keyestudio 1602 I2C Module ........................................................................................................................................................................................... 63
Project 8: Line Tracking of Smart Car ............................................................................................................................................................................................... 68
Project 9: Ultraviolet Obstacle Avoidance of Smart Car.................................................................................................................................................................... 80
Project 10：IR Remote Control of Smart Car ................................................................................................................................................................................... 91
Project 11：Distance Detecting of Smart Car ................................................................................................................................................................................. 101
Project 12：Bluetooth Remote Control of Smart Car ..................................................................................................................................................................... 117
Project 13：: 5 in 1 (Line Tracking, Obstacle Avoidance, Bluetooth and IR Remote Control, Distance Detecting ) Multi-functional Car ................................... 127
1.
www.keyestudio.cc
keyestudio
1
1. Introduction
keyestudio 4WD Bluetooth Multi-functional Car is a learning application development system based on microcontroller and with ATmega-328 as core. It has functions of line tracking, obstacle avoidance, IR remote control , Bluetooth remote control and detecting distance. This kit contains plenty of interesting programs and can extend an external circuit module to increase more functions of this car. The kit aims to disengage users from boring theories and obtain capacity of system development when they are learning Arduino.
2. Parameters
1.Motor: Voltage: 6-9V Reduction Ratio: 1:48
2.Choosing L298N driver module as control motor, separated from microcontrollor
3.Three line tracking modules, having higher precision when detecting white and black lines,able to realize anti-falling
4.IR remote control module making up a remote control system of the car
5.Using ultrasonic module to realize obstacle avoidance
6.Pairing mobile phone Bluetooth with Bluetooth remote control module to control the car
7.Able to connect with external voltage at 7~12V,and equip with various sensors to complete different functions as much as possible
2
3. Project List
Project 1:Line Tracking Sensor Project 2:Ultrasonic Sensor Project 3: Digital IR Receiver Module Project 4: Servo Motor Project 5: Bluetooth Module Project 6: L298N Motor Driver Project 7: I2C 1602 LCD Project 8：Line Tracking of Smart Car Project 9：Obstacle Avoidance of Smart Car Project 10：IR Remote Control of Smart Car Project 11：Distance Detecting of Smart Car Project 12：Bluetooth Remote Control of Smart Car Project 13：5 in 1 Multi-functional Car
keyestudio
3
4. BOM
No.
Product Name
Quantity
Picture
1
keyestudio UNO R3
1 2
keyestudio Shield V5
1 3
keyestudio L298N Motor Shield
1
keyestudio
keyestudio
4
4
keyestudio Bluetooh HC-06
1
5
I2C 1602 LCD 1
6
keyestudio Line Tracking Sensor
3 7
HC-SR04 Ultrasonic Sensor
1
8
keyestudio Digital IR Receiver Module
1
keyestudio
5
9
4WD Top PCB
1
10
4WD Bottom PCB
1 11
Servo Motor
1
12
Servo Plastic Platform
1 13
Remote Control of Chip
1
keyestudio
6
14
Toggle Switch
1
15
18650 Battery Case
1
16
Mental Motor
4 17
Motor Fixed Part
4
18
Plastic Tire
4
keyestudio
7
19
Copper Pillar 40MM
6 20
Copper Pillar 10MM
16 21
USB Cable
1 22
Dupont Line
30
keyestudio
8
23
M3*6MM Round Head Screw
60 24
M3*6MM Flat Head Screw
2
25
M3*30MM Round Head Screw
8 26
3MM Nut
16
27
Connector Wire (150mm, Black)
6
9
28
Connector Wire (150mm, Red)
6 29
Winding Wire (12CM)
1
5. Installation Method
keyestudio
1. Plug 4 10MM copper pillars into bottom PCB.
keyestudio
10
4pcs
Copper Pillar
10MM
4pcs
M3*6MM
Round Head
Screw
2. 4 M3*6MM round head screw is slotted into the pillars.
3. keyestudio L298N motor shield is bolted to the 4 pillars with 4 screws
keyestudio
11
keyestudio
L298N Motor
Shield
4pcs
M3*6MM
Round Head
Screw
3 pcs
keyestudio
Line Tracking
Sensor
3pcs
M3*6MM
Round Head
Screw
4. Attach 3 line tracking sensors to bottom PCB using 3 screws.
5. Fix the line tracking sensors with 3 nuts on the back.
12
3 pcs
3MM Nut
4 pcs
Motor Fixed Part
6.Direct 4 motor fixed parts to the holes on bottom PCB.
keyestudio
keyestudio
13
8 pcs
M3*6MM
Round Head
Screw
7. Bolt the motor fixed parts to bottom PCB with 8 screws.
8. Place 4 mental motors on PCB near the motor fixed parts.
14
4pcs
Mental Motor
8 pcs
3MM Nut
8 pcs
M3*30MM
Round Head
Screw
9. Attach 4 motors to bottom PCB using 8 screws and 8 nuts.
keyestudio
15
10. Plug 4 tires into the motors.
4pcs
Plastic Tire
6pcs
M3*6MM
Round Head
Screw
11. Insert 6 screws into 6 holes around bottom PCB.
keyestudio
12. Slot 6 pillars into the screws.
16
6pcs
Copper Pillar
40MM
keyestudio
Digital
IR Receiver
Module
1pcs
M3*6MM
Round Head
Screw
13. Attach IR receiver module to top PCB using a screw.
keyestudio
14. Twist a nut to the screw to fix IR receiver module.
keyestudio
17
1 pcs
3MM Nut
15. Insert 4 screws into the holes of top PCB.
keyestudio
18
4pcs
M3*6MM
Round Head
Screw
4pcs
Copper Pillar
10MM
16. 4 pillars are slotted into the screws.
keyestudio
19
2pcs M2*8
Tapping Screw
17. First cut the plastic object into a cross to put into the part completely,and then install platform and motor step by step according following figures.
keyestudio
20
HC-SR04
Ultrasonic Sensor
4pcs
M3*6MM
Round Head
Screw
18. Attach ultrasonic sensor to the platform using wingding wire.
19. Bolt the whole platform to 4 pillars on top PCB with 4 screws.
keyestudio
21
2pcs
M3*6MM
Flat Head
Screw
18650
Battery
Case
20.Battery case is bolted to top PCB on the end with 2 screws.
21. Twist 2 nuts to fix the battery case.
22
2pcs
3MM Nut
22. Install toggle switch on top PCB.
keyestudio
keyestudio
23
Toggle Switch
8pcs
M3*6MM
Round Head
Screw
23. Insert 8 screws into the holes of the middle part on top PCB.
24. Slot 8 pillars into 8 screws.
keyestudio
24
8pcs
Copper Pillar
10MM
keyestudio
UNO R3
I2C 1602
LCD
25.Plug LCD and UNO R3 into the 8 pillars.
26. Attach LCD and UNO R3 to the pillars using screws.
keyestudio
25
8pcs
M3*6MM
Round Head
Screw
keyestudio
Shield V5
27. Plug shield V5 into UNO R3.
keyestudio
26
keyestudio
Bluetooh
HC-06
4WD
Top PCB
4WD
Bottom PCB
28. Plug Bluetooh HC-06 into shield V5.
29. Plug top board into bottom board.
keyestudio
27
6pcs
M3*6MM
Round Head
Screw
30. Fix top and bottom board using 6 screws.
31. Installation is complete,shown as following figure.
keyestudio
28
keyestudio
29
6. Address of Assembly Video
http://www.keyestudio.com/wp/2016/09/ks0192
7. Address of Demonstration Video
http://www.keyestudio.com/wp/2016/09/ks0192-keyestudio-4wd-bluetooth-multi-functional-
car-demonstration-video/
30
8. Project Details
Project 1:Line Tracking Sensor
keyestudio
Introduction:
This Line Tracking Sensor can detect white lines in black and black lines in white. The single line-tracking signal provides a stable output signal TTL for a more accurate and more stable line. Multi-channel option can be easily achieved by installing required line-tracking robot sensors.
keyestudio
31
Specification:
Power Supply: +5V Operating Current: <10mA Operating Temperature Range: 0°C ~ + 50°C Output Interface: 3-wire interface (1 - signal, 2 - power, 3 - power supply negative) Output Level: TTL level
Connection Diagram:
keyestudio
32
Sample Code:
******************************************************************************* const int sensorPin = 3; // the number of the sensor pin const int ledPin = 13; // the number of the LED pin int sensorState = 0; // variable for reading the sensor status void setup() { pinMode(ledPin, OUTPUT); pinMode(sensorPin, INPUT); } void loop(){ // read the state of the sensor value: sensorState = digitalRead(sensorPin); // if the sensorState is HIGH: if (sensorState == HIGH) { digitalWrite(ledPin, HIGH); } else {digitalWrite(ledPin, LOW); }} *******************************************************************************
Result
After power-on, power indicator D1 is on. When you block the sensing part of line tracking sensor with black paper, LED on the sensor is off as shown in Figure 1. When you block it with white paper, LED is on as shown in Figure 2.
keyestudio
33
Figure 1 Figure 2
keyestudio
34
Project 2: Ultrasonic Sensor
Introduction:
The HC-SR04 Ultrasonic Sensor is a very affordable proximity/distance sensor that has been used mainly for object avoidance in various robotics projects. It essentially gives your Arduino eyes / spacial awareness and can prevent your robot from crashing or falling off a table. It has also been used in turret applications, water level sensing, and even as a parking sensor. This simple project will use the HC-SR04 sensor with an Arduino and a Processing sketch to provide a neat little interactive display on your computer screen.
Specification：
Working Voltage: DC 5V
35
Working Current: 15mA Working Frequency: 40KHz Max Range: 4m Min Range: 2cm Measuring Angle: 15 degree Trigger Input Signal: 10µS TTL pulse Size: 46*20.4mm Weight: 9g
Connection Diagram:
keyestudio
keyestudio
36
Sample Code:
VCC to arduino 5v GND to arduino GND Echo to Arduino pin 7 Trig to Arduino pin 8 *******************************************************************************
#define echoPin 7 // Echo Pin #define trigPin 8 // Trigger Pin #define LEDPin 13 // Onboard LED
keyestudio
37
int maximumRange = 200; // Maximum range needed int minimumRange = 0; // Minimum range needed long duration, distance; // Duration used to calculate distance
void setup() { Serial.begin (9600); pinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT); pinMode(LEDPin, OUTPUT); // Use LED indicator (if required) }
void loop() { /* The following trigPin/echoPin cycle is used to determine the distance of the nearest object by bouncing soundwaves off of it. */ digitalWrite(trigPin, LOW); delayMicroseconds(2);
digitalWrite(trigPin, HIGH); delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
//Calculate the distance (in cm) based on the speed of sound. distance = duration/58.2;
keyestudio
38
if (distance >= maximumRange || distance <= minimumRange){ /* Send a negative number to computer and Turn LED ON to indicate "out of range" */ Serial.println("-1"); digitalWrite(LEDPin, HIGH); } else { /* Send the distance to the computer using Serial protocol, and turn LED OFF to indicate successful reading. */ Serial.println(distance); digitalWrite(LEDPin, LOW); } //Delay 50ms before next reading. delay(50); }
*******************************************************************************
Result
After connection and uploading, when ultrasonic sensor senses obstacle within sensing area, it is measuring the distance between itself and obstacle and the value of distance is displayed on serial monitor as shown in bellow figure.
keyestudio
39
keyestudio
40
Project 3: Digital IR Receiver Module
Introduction:
IR is widely used in remote control. With this IR receiver, Arduino project is able to receive command from any IR remoter controller if you have the right decoder. Well, it will be also easy to make your own IR controller using IR transmitter.
Specification:
Power Supply: 5V Interface: Digital Modulate Frequency: 38Khz Module Interface Socket: JST PH2.0
NOTE: In the sample code below Digital pin 11 is in use, you may either change your wiring or change the sample code to match.
41
Connection Diagram：
keyestudio
Sample Code:
******************************************************************************* Get library from: https://github.com/shirriff/Arduino-IRremote
#include <IRremote.h>
keyestudio
42
int RECV_PIN = 11; IRrecv irrecv(RECV_PIN); decode_results results; void setup() { Serial.begin(9600); irrecv.enableIRIn(); // Start the receiver } void loop() { if (irrecv.decode(&results)) { Serial.println(results.value, HEX); irrecv.resume(); // Receive the next value } } *******************************************************************************
Result
In this project, we need to use a IR remote control which has 17 functional key and its launching distance is 8 meters at most, proper to control various devices indoors. This project is actually to decode remote control signal. After connection and uploading codes, aim at IR receiving module and press the key, finally you can see corresponding codes. If you press the key too long, it will show messy codes easily as shown in bellow figure.
keyestudio
43
keyestudio
44
45
Project 4: Servo Motor
keyestudio
keyestudio
46
Introduction
Servomotor is a position control rotary actuator. It mainly consists of housing, circuit board, core-less motor, gear and position sensor. The receiver or MCU outputs a signal to the servomotor. The motor has a built-in reference circuit that gives out reference signal, cycle of 20ms and width of 1.5ms. The motor compares the acquired DC bias voltage to the voltage of the potentiometer and outputs a voltage difference. The IC on the circuit board will decide the rotate direction accordingly and drive the core-less motor. The gear then pass the force to the shaft. The sensor will determine if it has reached the commanded position according to the feedback signal. Servomotors are used in control systems that requires to have and maintain different angles. When the motor speed is definite, the gear will cause the potentiometer to rotate. When the voltage difference reduces to zero, the motor stops. Normally, the rotation angle range is among 0-180 degrees.
Servomotor comes with many specifications. But all of them have three connection wires, distinguished by brown, red, orange colors(different brand may have different color). Brown one is for GND, red one for power positive, orange one for signal Line.
The rotate angle of the servo motor is controlled by regulating the duty cycle of the PWM(Pulse-Width Modulation) signal. The standard cycle of the PWM signal is 20ms（50Hz）. Theoretically, the width is distributed between 1ms-2ms, but in fact, it's between 0.5ms-2.5ms. The width corresponds the rotate angle from 0° to 180°. But note that for different brand motor, the same signal may have different rotate angle.
keyestudio
47
After some basic knowledge, let's learn how to control a servomotor. For this experiment, you only need a servomotor and several jumper wires.
Connection & sample program There are two ways to control a servomotor with Arduino. One is to use a common digital sensor port of Arduino to produce square wave with different duty cycle to simulate PWM signal and use that signal to control the positioning of the motor. Another way is to directly use the Servo function of the Arduino to control the motor. In this way, the program will be easier but it can only control two-contact motor because for the servo function, only digital pin 9 ang 10 can be used. The Arduino drive capacity is limited. So if you need to control more than one motor, you will need external power.
Connection Diagram：
keyestudio
48
Sample Code：
******************************************************************************* int servopin=9;// select digital pin 9 for servomotor signal line
keyestudio
49
int myangle;// initialize angle variable int pulsewidth;// initialize width variable int val; void servopulse(int servopin,int myangle)// define a servo pulse function { pulsewidth=(myangle*11)+500;// convert angle to 500-2480 pulse width digitalWrite(servopin,HIGH);// set the level of servo pin as “high” delayMicroseconds(pulsewidth);// delay microsecond of pulse width digitalWrite(servopin,LOW);// set the level of servo pin as “low” delay(20-pulsewidth/1000); } void setup() {
pinMode(servopin,OUTPUT);// set servo pin as “output” Serial.begin(9600);// connect to serial port, set baud rate at “9600”
Serial.println("servo=o_seral_simple ready" ) ; } void loop()// convert number 0 to 9 to corresponding 0-180 degree angle, LED blinks corresponding number of time { val=Serial.read();// read serial port value if(val>='0'&&val<='9') { val=val-'0';// convert characteristic quantity to numerical variable val=val*(180/9);// convert number to angle Serial.print("moving servo to "); Serial.print(val,DEC);
keyestudio
50
Serial.println(); for(int i=0;i<=50;i++) // giving the servo time to rotate to commanded position { servopulse(servopin,val);// use the pulse function } } } *******************************************************************************
Result
When you input a number on serial monitor, the motor rotates to an angle which is equal to the number input, and the angle dimension will be displayed on screen, as shown in bellow figure.
keyestudio
51
keyestudio
52
Project 5: Bluetooth Module
Introduction:
This Bluetooth module can easily achieve serial wireless data transmission. Its operating frequency is among the most popular 2.4GHz ISM frequency band (i.e. Industrial, scientific and medical). It adopts Bluetooth 2.1+EDR standard. In Bluetooth 2.1, signal transmit time of different devices stands at a 0.5 seconds interval so that the workload of bluetooth chip can be reduced substantially and more sleeping time can be saved for bluetooth. This module is set with serial interface, which is easy-to-use and simplifying overall design/development cycle.
keyestudio
53
Specification：
Bluetooth Protocol: Bluetooth 2.1+ EDR Standard USB Protocol: USB v1.1/2.0 Operating Frequency: 2.4GHz ISM Frequency Band Modulation Mode: Gauss Frequency Shift Keying Transmit Power: ≤ 4dBm, Second Stage Sensitivity: ≤-84dBm at 0.1% Bit Error Rate Transmission Speed: 2.1Mbps(Max)/160 kbps(Asynchronous)； 1Mbps/1Mbps(Synchronous) Safety Feature: Authentication and Encryption Supported Configuration: Bluetooth Serial Port (major and minor) Supply Voltage: +3.3 VDC 50mA Operating Temperature: -20 to 55℃
54
Connection Diagram:
keyestudio
keyestudio
55
Sample Code：
******************************************************************************* int val; int ledpin=13; void setup() { Serial.begin(9600); pinMode(ledpin,OUTPUT); } void loop() { val=Serial.read(); if(val=='a') { digitalWrite(ledpin,HIGH); delay(250); digitalWrite(ledpin,LOW); delay(250); Serial.println("keyestudio"); } } *******************************************************************************
Result
After power-on, power indicator D1 is on, and LED on Bluetooth module is blinking; open Bluetooth on mobile phone, pair them, input 1234, and finish pairing as shown in Figure 1 ; open APP—Bluetooth serial communication assistant, connect it to Bluetooth, select normal mode, complete connection, and LED on
keyestudio
56
Bluetooth module is on as shown in Figure 2; input an “a” in the assistant, and display “keyesdudio” in it as shown in Figure 3.
Figure 1 Figure 2 Figure 3
keyestudio
57
Project 6: L298N Motor Driver
Introduction:
Using L298N made by ST Company as the control chip, the module has characteristics of strong driving ability, low calorific value and strong anti-interference ability. This module can use built-in 78M05 for electric work via a driving power supply part. But to avoid the damage of the voltage stabilizing chip, please use an external 5V logic supply when using more than 12V driving voltage. Using large capacity filter capacitor, this module can follow current to protect diodes, and improve reliability.
Specification:
58
Working Mode: H bridge (double lines) Control Chip: L298N (ST) Logical Voltage: 5V Driving Voltage: 5V-35V Logical Current: 0mA-36mA Driving Current: 2A (MAX single bridge) Storage Temperature: (-20 °C)-(+135 °C) Maximum Power: 25W Weight: 30g Periphery Dimension: 43 x 43 x 27 mm(L x W x H)
keyestudio
59
Circuit Connection:
keyestudio
keyestudio
60
Sample Code:
*******************************************************************************
int IN1=5; int IN2=6;
61
int IN3=7; int IN4=8; int ENA=9; int ENB=10; void setup() { for (int i = 5; i <11; i ++) { pinMode(i, OUTPUT); } } void loop() { // rotate CW digitalWrite(IN1,LOW); digitalWrite(IN2,HIGH); analogWrite(ENA,200); digitalWrite(IN3,LOW); digitalWrite(IN4,HIGH); analogWrite(ENB,200); delay(1000); // pause for 1S analogWrite(ENA,0); analogWrite(ENB,0); delay(1000); // rotate CCW
keyestudio
keyestudio
62
digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW); analogWrite(ENA,100); digitalWrite(IN3,HIGH); digitalWrite(IN4,LOW); analogWrite(ENB,100); delay(1000); // pause for 1S analogWrite(ENA,0); analogWrite(ENB,0); delay(1000); } *******************************************************************************
Result
After connection and power-on, two motors rotate clockwise for 1 second at a speed of 200 (PWM value is 200) and then stop for 1 second; two motors rotate anticlockwise for 1 second at a speed of 100 (PWM value is 100) and then stop for 1 second; circulating like this.
63
Project 7：keyestudio 1602 I2C Module
keyestudio
keyestudio
64
Introduction:
This is great LCD display compatible with arduino. With limited pin resources, your project will quickly run out of resources using normal LCDs. With this I2C interface LCD module, you only need 2 lines (I2C)to display the information.If you already have I2C devices in your project, this LCD module actually cost no more resources at all. The address can be set 0x27.
Specification：
I2C Address: 0x27 Back Lit (Blue with white char color) Supply Voltage: 5V Interface:I2C/TWI x1,Gadgeteer interface x2 Adjustable Contrast Size:82x35x18 mm
Connection Diagram：
I602 is equipped with 4 pins in total. SCL should be connected to analog 5, SDA to analog 4, VCC to +5V and GND to ground. connection ：
keyestudio
65
Sample Code：
*******************************************************************************
Get libraries of Wire and LiquidCrystal_I2C from :
http://7326097.s21d-7.faiusrd.com/0/ABUIABAAGAAg7uTNvgUojdGEywY?f=LiquidCrystal_I2C++Wire.zip&v=1473475182
//Compatible with the Arduino IDE 1.0 //Library version:1.1
keyestudio
66
#include <Wire.h> #include <LiquidCrystal_I2C.h> LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x27 for a 16 chars and 2 line display void setup() { lcd.init(); // initialize the lcd lcd.init(); // Print a message to the LCD. lcd.backlight(); lcd.setCursor(3,0); lcd.print("Hello, world!"); lcd.setCursor(2,1); lcd.print("keyestudio!"); } void loop() {}
*******************************************************************************
Result
After connection and uploading codes, the result of keyestudio 1602 I2C Module will be displayed as shown in bellow figure.
keyestudio
67
68
Project 8: Line Tracking of Smart Car
keyestudio
keyestudio
69
Introduction:
This project introduces a simple and automatic line tracking system of a car based on Arduino microcontroller.This car ,regarding UNO as main control, detect black line by IR photoelectric sensor and send the feedback to Arduino. Arduino will analyses the feedback signal and then control the driver motor to adjust the car diversion. Finally the car is able to go around the black line automatically. In addition, you can observe the state of the car through keyestudio 1602 I2C Module.
Principle:
1.Black absorbs most light. When the plane isn’t black, most IR emitted by the sensor is reflected back. So the sensor output low level at 0.
2.When there is a sensor above black line, since reflectivity of black is small ,little IR is reflected back under demand that the sensor works. Therefore, the sensor output 1.
3.We just need to know the output of the sensor is 1 or 0 with Arduino to detect black line.
4.Arduino control the motion of the car according to receiving signal. The system scheme is showed by following picture 1-1.
5.The system is composed of main control circuit, power supply, IR detecting module ,motor and driver module. The structure chart of the system is showed by picture 2-1.
keyestudio
70
71
Schematic Diagram:
keyestudio
72
Connection Diagram:
keyestudio
keyestudio
73
Sample Code:
*******************************************************************************
#include <LiquidCrystal_I2C.h> #include <Wire.h> #define SensorLeft 6 //input pin of left sensor #define SensorMiddle 9 //input pin of middle sensor #define SensorRight 11 //input pin of right sensor unsigned char SL; //state of left sensor unsigned char SM; //state of middle sensor unsigned char SR; //state of right sensor #define Lpwm_pin 5 //pin of controlling speed---- ENA of motor driver board #define Rpwm_pin 10 //pin of controlling speed---- ENA of motor driver board int pinLB=2; //pin of controlling diversion----IN1 of motor driver board int pinLF=4; //pin of controlling diversion----IN2 of motor driver board int pinRB=7; //pin of controlling diversion----IN3 of motor driver board int pinRF=8; //pin of controlling diversion----IN4 of motor driver board unsigned char Lpwm_val =180;//the speed of left wheel at 180 in initialization unsigned char Rpwm_val = 180;//the speed of right wheel at 180 in initialization int Car_state=0; //state of car moving LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x27 for a 16 chars and 2 void LCD1602_init(void) { lcd.init();
keyestudio
74
lcd.backlight(); lcd.clear(); } void Sensor_IO_Config() { pinMode(SensorLeft,INPUT); pinMode(SensorMiddle,INPUT); pinMode(SensorRight,INPUT); } void Sensor_Scan(void) { SL = digitalRead(SensorLeft); SM = digitalRead(SensorMiddle); SR = digitalRead(SensorRight); } void M_Control_IO_config(void)//initialized function of IO of motor driver { pinMode(pinLB,OUTPUT); // pin 2--IN1 of motor driver board pinMode(pinLF,OUTPUT); // pin 4--IN2 of motor driver board pinMode(pinRB,OUTPUT); // pin 7--IN3 of motor driver board pinMode(pinRF,OUTPUT); // pin 8--IN4 of motor driver board pinMode(Lpwm_pin,OUTPUT); // pin 5 (PWM) --ENA of motor driver board pinMode(Rpwm_pin,OUTPUT); // pin 10 (PWM) --ENB of motor driver board } void Set_Speed(unsigned char Left,unsigned char Right)//setting function of speed {
keyestudio
75
analogWrite(Lpwm_pin,Left); analogWrite(Rpwm_pin,Right); } void advance() // going forwards { digitalWrite(pinRB,LOW); // making motor move towards right rear digitalWrite(pinRF,HIGH); digitalWrite(pinLB,LOW); // making motor move towards left rear digitalWrite(pinLF,HIGH); Car_state = 1; show_state(); } void turnR() //turning on the right(dual wheels) { digitalWrite(pinRB,LOW); //making motor move towards right rear digitalWrite(pinRF,HIGH); digitalWrite(pinLB,HIGH); digitalWrite(pinLF,LOW); //making motor move towards left front Car_state = 4; show_state(); } void turnL() //turning on the left(dual wheels) { digitalWrite(pinRB,HIGH); digitalWrite(pinRF,LOW ); //making motor move towards right front digitalWrite(pinLB,LOW); //making motor move towards left rear
keyestudio
76
digitalWrite(pinLF,HIGH); Car_state = 3; show_state(); } void stopp() //stop { digitalWrite(pinRB,HIGH); digitalWrite(pinRF,HIGH); digitalWrite(pinLB,HIGH); digitalWrite(pinLF,HIGH); Car_state = 5; show_state(); } void back() //back { digitalWrite(pinRB,HIGH); //making motor move towards right rear digitalWrite(pinRF,LOW); digitalWrite(pinLB,HIGH); //making motor move towards left rear digitalWrite(pinLF,LOW); Car_state = 2; show_state() ; } void show_state(void) //showing current state of the car { lcd.setCursor(0, 1); //showing from second row switch(Car_state)
keyestudio
77
{ case 1:lcd.print(" Go ");Serial.print("\n GO"); break; case 2:lcd.print("Back ");Serial.print("\n Back"); break; case 3:lcd.print("Left ");Serial.print("\n Left"); break; case 4:lcd.print("Right");Serial.print("\n Right"); break; case 5:lcd.print("Stop ");Serial.print("\n Stop"); break; default: break; } } void setup() { LCD1602_init(); Sensor_IO_Config(); M_Control_IO_config(); //motor controlling the initialization of IO Set_Speed(Lpwm_val,Rpwm_val); //setting initialization of speed lcd.clear(); lcd.setCursor(0, 0); //cursor set in first row and first column， lcd.print(" Wait Signal "); stopp(); }
keyestudio
78
unsigned char old_SL,old_SM,old_SR; void loop() { Sensor_Scan(); if (SM == HIGH)// middle sensor in black area { if (SL == LOW & SR == HIGH) // black on left, white on right, turn left { turnR(); } else if (SR == LOW & SL == HIGH) // white on left, black on right, turn right { turnL(); } else // white on both sides, going forward { advance(); } } else // middle sensor on white area { if (SL== LOW & SR == HIGH)// black on left, white on right, turn left { turnR(); } else if (SR == LOW & SL == HIGH) // white on left, black on right, turn right
keyestudio
79
{ turnL(); } else // all white, stop { back(); delay(100); stopp() ; } } }
*******************************************************************************
keyestudio
80
Project 9: Ultraviolet Obstacle Avoidance of Smart Car
Introduction:
This project ,regarding Arduino UNO as main control, detect front obstacle by ultrasonic sensor and platform motor, and send the feedback to Arduino. Arduino will analyses the feedback signal and then control the driver motor to adjust the car diversion. Finally the car is able to avoid obstacle automatically and keep going.
keyestudio
81
Principle:
1.Ultrasonic detecting distance: one port emits high level more than 10 US. Once it outputting level, open potentiometer to time. When the port becomes low level,
read out current value. Use the time of detecting distance to calculate distance.
2.Use ultrasonic to detect the distance between obstacle and car, so that control the motion of the car according to the data.
3. If the distance between the car and obstacle is less than 20 cm, the car goes backward; if the distance is no less than 40 cm, the car goes forwards; if the distance is
less than 40cm , the motor turns to detect the distance between car and left obstacle or right obstacle; if the distance between car and left obstacle, the distance between car and right obstacle are less than 15 cm, the car goes backward; if the distance between car and left obstacle is larger , the car turns left; if the distance between car and left obstacle is less than or equal to the distance between car and right obstacle, the car turns right.
Schematic Diagram:
keyestudio
82
83
Connection Diagram:
keyestudio
Sample Code:
******************************************************************************
keyestudio
84
#include <Servo.h> int pinLB = 2; // defining pin 12 int pinLF = 4; // defining pin 3 int pinRB = 7; // defining pin 13 int pinRF = 8; // defining pin 11 int Lpwm_pin = 5; //adjusting speed int Rpwm_pin = 10; //adjusting speed // unsigned char Lpwm_val = 200; unsigned char Rpwm_val = 200; //////////////////////////////// int inputPin = A0; // defining receiving pin of ultrasonic signal int outputPin =A1; // defining emitting pin of ultrasonic signal
int Fspeedd = 0; // forward speed int Rspeedd = 0; // right speed int Lspeedd = 0; // left speed int directionn = 0; // front=8 back=2 left=4 right=6 Servo myservo; // setting myservo int delay_time = 250; // time for servo motor turning backward
int Fgo = 8; // going forward int Rgo = 6; // turning right int Lgo = 4; // turning left int Bgo = 2; // turning backward
void setup()
keyestudio
85
{ Serial.begin(9600); // defining output pin of motor pinMode(pinLB,OUTPUT); // pin 12 pinMode(pinLF,OUTPUT); // pin 3 (PWM) pinMode(pinRB,OUTPUT); // pin 13 pinMode(pinRF,OUTPUT); // pin 11 (PWM) pinMode(inputPin, INPUT); // defining input pin of ultrasonic pinMode(outputPin, OUTPUT); // defining output pin of ultrasonic myservo.attach(3); // defining output pin9 of motor } void advance() // going forward { digitalWrite(pinLB,LOW); // right wheel going forward digitalWrite(pinRB, LOW); // left wheel going forward digitalWrite(pinLF,HIGH); digitalWrite(pinRF,HIGH); } void stopp() //stop { digitalWrite(pinRB,HIGH); digitalWrite(pinRF,HIGH); digitalWrite(pinLB,HIGH); digitalWrite(pinLF,HIGH); } void right() //turning right(single wheel) {
keyestudio
86
digitalWrite(pinRB,LOW); //making motor move towards right rear digitalWrite(pinRF,HIGH); digitalWrite(pinLB,HIGH); digitalWrite(pinLF,LOW); //making motor move towards left front } void left() //turning left(single wheel) { digitalWrite(pinRB,HIGH); digitalWrite(pinRF,LOW ); //making motor move towards right front digitalWrite(pinLB,LOW); //making motor move towards left rear digitalWrite(pinLF,HIGH); }
void back() //going backward { digitalWrite(pinRB,HIGH); //making motor move towards right rear digitalWrite(pinRF,LOW); digitalWrite(pinLB,HIGH); //making motor move towards left rear digitalWrite(pinLF,LOW); } void detection() //measuring 3 angles(0.90.179) { int delay_time = 250; // time for servo motor turning backward ask_pin_F(); // reading out the front distance if(Fspeedd < 20) // assuming the front distance less than 10cm
keyestudio
87
{ stopp(); // clear output material delay(100); back(); // going backward for 0.2 second delay(200); }
if(Fspeedd < 40) // assuming the front distance less than 25cm { stopp(); delay(100); // clear output material ask_pin_L(); // reading out the left distance delay(delay_time); // waiting servo motor to be stable ask_pin_R(); // reading out the right distance delay(delay_time); // waiting servo motor to be stable
if(Lspeedd > Rspeedd) //assuming left distance more than right distance { directionn = Lgo; //turning left }
if(Lspeedd <= Rspeedd) //assuming left distance less than or equal to right distance { directionn = Rgo; //turning right }
keyestudio
88
if (Lspeedd < 15 && Rspeedd < 15) //assuming both left distance and right distance less than 10cm { directionn = Bgo; //going backward } } else //assuming the front distance more than 25 cm { directionn = Fgo; //going forward }
} void ask_pin_F() // measuring the front distance { myservo.write(90); digitalWrite(outputPin, LOW); // ultrasonic launching low voltage at 2μs delayMicroseconds(2); digitalWrite(outputPin, HIGH); // ultrasonic launching high voltage at 10μs，at least at10μs delayMicroseconds(10); digitalWrite(outputPin, LOW); // keeping ultrasonic launching low voltage float Fdistance = pulseIn(inputPin, HIGH); // time of error reading Fdistance= Fdistance/5.8/10; // converting time into distance（unit：cm） Fspeedd = Fdistance; // reading-in Fspeedd(fore speed) with distance } void ask_pin_L() // measuring left distance { myservo.write(5);
keyestudio
89
delay(delay_time); digitalWrite(outputPin, LOW); // ultrasonic launching low voltage at 2μs delayMicroseconds(2); digitalWrite(outputPin, HIGH); // ultrasonic launching high voltage at 10μs，at least at10μs delayMicroseconds(10); digitalWrite(outputPin, LOW); // keeping ultrasonic launching low voltage float Ldistance = pulseIn(inputPin, HIGH); // time of error reading Ldistance= Ldistance/5.8/10; // converting time into distance（unit：cm） Lspeedd = Ldistance; //reading-in Lspeedd(left speed) with distance } void ask_pin_R() // measuring right distance { myservo.write(177); delay(delay_time); digitalWrite(outputPin, LOW); // ultrasonic launching low voltage at 2μs delayMicroseconds(2); digitalWrite(outputPin, HIGH); // ultrasonic launching high voltage at 10μs，at least at10μs delayMicroseconds(10); digitalWrite(outputPin, LOW); // keeping ultrasonic launching low voltage float Rdistance = pulseIn(inputPin, HIGH); // time of error reading Rdistance= Rdistance/5.8/10; // onverting time into distance（unit：cm） Rspeedd = Rdistance; // reading-in Rspeedd(right speed) with distance }
void loop() {
keyestudio
90
myservo.write(90); //making motor regression, being ready for next measurement detection(); //measuring angle and deciding which direction it moves towards if(directionn == 2) //supposing direction = 2(back up) { back(); delay(800); // back up left() ; delay(200); //moving slightly towards left(avoiding locked) } if(directionn == 6) //supposing direction = 6(turning right) { back(); delay(100); right(); delay(600); // turning right } if(directionn == 4) //supposing direction = 4(turning left) { back(); delay(600); left(); delay(600); // turning left } if(directionn == 8) //supposing direction = = 8(going forwards) { advance(); // going forwards normally
keyestudio
91
delay(100); } }
******************************************************************************
Project 10：IR Remote Control of Smart Car
Introduction:
This project ,regarding Arduino microcontroller as main control, uses IR module to receive IR remote signal and send the signal to Arduino. Arduino will analyses the signal and then control the driver motor and the motion of the car with IR remote control. In addition, you can observe the state of the car through keyestudio 1602 I2C Module.
keyestudio
92
Principle:
1.Connecting Arduino to IR receiving module ,Bluetooth module and IR receiving module communicating with IR remote control.
2.IR remote control will send these button message“ ”“ ”“ ”“ ”“ ”“ ”to IR receiving module.
3.IR receiving module will send signal to Arduino , and it will control the motion of the car .
4. When Arduino receiving this message“ ”,the car goes forwards；when it receiving this“ ”, the car goes backward；when it receiving
“ ”,the car turns left；when it receiving“ ”,the car turns right；when it receiving“ ”,the car stop；when it receiving“ ”, the car quits.
Schematic Diagram:
keyestudio
93
94
Connection Diagram:
keyestudio
Sample Code:
******************************************************************************
#include <LiquidCrystal_I2C.h> //including libraries of I2C-LCD1602 liquid crystal #include <Wire.h> //including libraries of I2C
95
#include <IRremote.h> int RECV_PIN = 12; IRrecv irrecv(RECV_PIN); decode_results results; #define IR_Go 0x00ff629d #define IR_Back 0x00ffa857 #define IR_Left 0x00ff22dd #define IR_Right 0x00ffc23d #define IR_Stop 0x00ff02fd #define IR_ESC 0x00ff52ad LiquidCrystal_I2C lcd(0x27,16,2); //defining liquid crystal #define Lpwm_pin 5 //adjusting speed #define Rpwm_pin 10 //adjusting speed // int pinLB=2; // defining pin2 left rear int pinLF=4; // defining pin4 left front int pinRB=7; // defining pin7 right rear int pinRF=8; // defining pin8 right front unsigned char Lpwm_val = 200; unsigned char Rpwm_val = 200; int Car_state=0; void M_Control_IO_config(void) { pinMode(pinLB,OUTPUT); // pin2 pinMode(pinLF,OUTPUT); // pin4 pinMode(pinRB,OUTPUT); // pin7 pinMode(pinRF,OUTPUT); // pin8
keyestudio
keyestudio
96
pinMode(Lpwm_pin,OUTPUT); // pin11 (PWM) pinMode(Rpwm_pin,OUTPUT); // pin10 (PWM) } void Set_Speed(unsigned char Left,unsigned char Right) { analogWrite(Lpwm_pin,Left); analogWrite(Rpwm_pin,Right); } void advance() // going forward { digitalWrite(pinRB,LOW); // making motor move towards right rear digitalWrite(pinRF,HIGH); digitalWrite(pinLB,LOW); // making motor move towards left rear digitalWrite(pinLF,HIGH); Car_state = 1; show_state(); } void turnR() //turning right(dual wheel) { digitalWrite(pinRB,LOW); //making motor move towards right rear digitalWrite(pinRF,HIGH); digitalWrite(pinLB,HIGH); digitalWrite(pinLF,LOW); //making motor move towards left front Car_state = 4; show_state(); }
keyestudio
97
void turnL() //turning left(dual wheel) { digitalWrite(pinRB,HIGH); digitalWrite(pinRF,LOW ); //making motor move towards right front digitalWrite(pinLB,LOW); //making motor move towards left rear digitalWrite(pinLF,HIGH); Car_state = 3; show_state(); } void stopp() //stop { digitalWrite(pinRB,HIGH); digitalWrite(pinRF,HIGH); digitalWrite(pinLB,HIGH); digitalWrite(pinLF,HIGH); Car_state = 5; show_state(); } void back() //back up { digitalWrite(pinRB,HIGH); //making motor move towards right rear digitalWrite(pinRF,LOW); digitalWrite(pinLB,HIGH); //making motor move towards left rear digitalWrite(pinLF,LOW); Car_state = 2; show_state() ;
keyestudio
98
} void show_state(void) { lcd.setCursor(0, 1); switch(Car_state) { case 1:lcd.print(" Go ");Serial.print("\n GO"); break; case 2:lcd.print("Back ");Serial.print("\n Back"); break; case 3:lcd.print("Left ");Serial.print("\n Left"); break; case 4:lcd.print("Right");Serial.print("\n Right"); break; case 5:lcd.print("Stop ");Serial.print("\n Stop"); break; default: break; } } void LCD1602_init(void) //function of initialization of liquid crystal { lcd.init(); //invoking initialized function in LiquidCrystal_I2C.h delay(10); //delaying for10 millisecond lcd.backlight(); //open backlight of LCD1602 lcd.clear(); //clear screen
Loading...
Buy Points How it Works FAQ Contact Us Questions and Suggestions Privacy Policy Cookie Policy Terms of Use