如何让小型双轮差速底盘实现双灰度循迹功能?
本帖最后由 机器谱 于 2023-3-10 09:20 编辑1. 功能说明
在机器人车体上安装2个 灰度传感器 ,实现机器人按照下图所指定的路线进行导航运动,来模拟仓库物流机器人按指定路线行进的工作过程。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAg7qm7nwYoouPB8wEwngk4ngk!400x400.jpg.webp
2. 使用样机
本实验使用的样机为R023e样机。
https://28846868.s21i.faiusr.com/4/ABUIABAEGAAg_6q7nwYono6-DDCRFDikEA!400x400.png.webp3. 功能实现3.1 电子硬件 在这个示例中,我们采用了以下硬件,请大家参考:
主控板Basra(兼容Arduino Uno)
扩展板SH-01外围电路扩展板(与Bigfish扩展板相似)
传感器
灰度传感器
电池7.4V锂电池
电路连接说明:
① 电机连在D6,D10及D5,D9接口上;
② 2个灰度传感器分别接在扩展板的传感器接口A0、A4上。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAg0bu7nwYo2_S2_QEwoBc4wA8!500x500.jpg.webphttps://28846868.s21i.faiusr.com/2/ABUIABACGAAg_Lu7nwYoysbk6QEwoBc4wA8!500x500.jpg.webp
3.2 编写程序 传感器触发情况、小车行驶状态、对应行为策略表:
传感器1传感器2小车状态动作
01小车左偏向右调整
10小车右偏向左调整
11到达终点停止
00正常前进
① 根据实验内容,利用多分支结构设计出程序流程图。
https://28846868.s21i.faiusr.com/4/ABUIABAEGAAg5cG7nwYoqd7_xwEw_gQ4iAM.png.webp机器人轨迹导航任务流程图
② 根据设计好的程序流程图进行编程,编写并烧录以下程序(blackline_4if.ino),该程序将实现演示视频中的动作。编程环境:Arduino 1.8.19
/*------------------------------------------------------------------------------------
版权说明:Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
Distributed under MIT license.See file LICENSE for detail or copy at
https://opensource.org/licenses/MIT
by 机器谱 2023-02-09 https://www.robotway.com/
------------------------------------------------------------------------------------*/
void turnleft_slow();
void forward();
void carstop();
void turnright_slow();
void setup()
{
pinMode( 18, INPUT);
pinMode( 14, INPUT);
pinMode( 10, OUTPUT);
pinMode( 6, OUTPUT);
pinMode( 5, OUTPUT);
pinMode( 9, OUTPUT);
}
void loop()
{
if (( digitalRead(14) && digitalRead(18) ))
{
forward();
}
if (( !( digitalRead(14) ) && digitalRead(18) ))
{
turnleft_slow();
}
if (( digitalRead(14) && !( digitalRead(18) ) ))
{
turnright_slow();
}
if (( !( digitalRead(14) ) && !( digitalRead(18) ) ))
{
carstop();
delay( 5000 );
}
}
void turnright_slow()
{
analogWrite(6 , 80);
analogWrite(10 , 0);
analogWrite(5 , 0);
analogWrite(9 , 0);
}
void carstop()
{
analogWrite(6 , 0);
analogWrite(10 , 0);
analogWrite(5 , 0);
analogWrite(9 , 0);
}
void turnleft_slow()
{
analogWrite(6 , 0);
analogWrite(10 , 0);
analogWrite(5 , 80);
analogWrite(9 , 0);
}
void forward()
{
analogWrite(6 , 80);
analogWrite(10 , 0);
analogWrite(5 , 80);
analogWrite(9 , 0);
}
也可以使用if…else嵌套写法(blackline_ifelse.ino)。
void stop();
void left();
void right();
void forwards();
void setup()
{
pinMode( 18, INPUT);
pinMode( 14, INPUT);
pinMode( 10, OUTPUT);
pinMode( 6, OUTPUT);
pinMode( 5, OUTPUT);
pinMode( 9, OUTPUT);
}
void loop()
{
if (( !( digitalRead(14) ) && digitalRead(18) ))
{
right();
}
else
{
if (( digitalRead(14) && !( digitalRead(18) ) ))
{
left();
}
else
{
if (( !( digitalRead(14) ) && !( digitalRead(18) ) ))
{
stop();
}
else
{
forwards();
}
}
}
}
void stop()
{
analogWrite(5 , 0);
analogWrite(9 , 0);
analogWrite(6 , 0);
analogWrite(10 , 0);
}
void right()
{
analogWrite(5 , 150);
analogWrite(9 , 0);
analogWrite(6 , 0);
analogWrite(10 , 150);
}
void forwards()
{
analogWrite(5 , 150);
analogWrite(9 , 0);
analogWrite(6 , 150);
analogWrite(10 , 0);
}
void left()
{
analogWrite(5 , 0);
analogWrite(9 , 150);
analogWrite(6 , 150);
analogWrite(10 , 0);
}
4. 资料下载
资料内容:
①【R023】-灰度循迹2-例程源代码
②【R023】-灰度循迹2-样机3D文件
资料下载地址:https://www.robotway.com/h-col-113.html
想了解更多机器人开源项目资料请关注 机器谱网站 https://www.robotway.com
页:
[1]