小型平行履带底盘实现超声避障功能
本帖最后由 机器谱 于 2023-3-15 09:25 编辑1. 功能说明
本实验使用的样机为R026a样机小型平行履带底盘。在样机前方安装1个 超声波传感器 ,如果遇到障碍,机器人后退、转向,否则机器人前进,实现机器人避障的效果。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAg2KLLnwYo0I26mgUwwCA4sBg!600x600.jpg.webp
2. 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Bigfish2.1
传感器超声波传感器
两个直流电机连在D5,D6以及D9,D10接口上;超声波传感器连在A4接口上。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAg5KPLnwYoyte6lAIwwCA4sBg!600x600.jpg.webp
3. 示例程序
编程环境:Arduino 1.8.19
编写并烧录以下程序(text.ino),该程序将实现演示动图中的动作。
/*------------------------------------------------------------------------------------
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 2023-02-10 https://www.robotway.com/
------------------------------------------------------------------------------------*/
int _ABVAR_1_i = 0 ;
int ardublockUltrasonicSensorCodeAutoGeneratedReturnCM(int trigPin, int echoPin)
{
long duration;
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(20);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
duration = duration / 59;
if ((duration < 2) || (duration > 300)) return false;
return duration;
}
void turnLeft();
void forward();
void back();
void setup()
{
pinMode( 10, OUTPUT);
pinMode( 6, OUTPUT);
pinMode( 5, OUTPUT);
pinMode( 9, OUTPUT);
digitalWrite( 19 , LOW );
}
void loop()
{
_ABVAR_1_i = ardublockUltrasonicSensorCodeAutoGeneratedReturnCM( 19 , 18 ) ;
if (( ( ( _ABVAR_1_i ) <= ( 5 ) ) && ( ( _ABVAR_1_i ) > ( 0 ) ) ))
{
back();
delay( 1000 );
turnLeft();
delay( 1500 );
}
else
{
forward();
}
}
void forward()
{
analogWrite(5 , 0);
analogWrite(6 , 165);
analogWrite(9 , 0);
analogWrite(10 , 165);
}
void back()
{
analogWrite(5 , 165);
analogWrite(6 , 0);
analogWrite(9 , 165);
analogWrite(10 , 0);
}
void turnLeft()
{
analogWrite(5 , 165);
analogWrite(6 , 0);
analogWrite(9 , 0);
analogWrite(10 , 165);
}
5. 资料内容
躲避悬崖-例程源代码
资料下载地址:https://www.robotway.com/h-col-114.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
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