小型双轮差速底盘实现触须避障功能
本帖最后由 机器谱 于 2023-5-17 09:51 编辑1. 功能说明
在R023d机器人车体上安装2个 触须传感器【https://www.robotway.com/h-col-137.html】 ,实现机器人小车避障功能。
https://28846868.s21i.faiusr.com/2/ABUIABACGAAg15mYogYo7v-pjwMwnBA4pw8!300x300.jpg.webp2. 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主控板(兼容Arduino Uno)
扩展板Bigfish2.1扩展板
传感器触须传感器
电池7.4V锂电池
电路连接:小车左轮电机连到Bigfish扩展板的D9,D10接口,小车右轮电机连到Bigfish扩展板的D5,D6;左侧触须传感器连接在Bigfish扩展板A4端口,右侧触须传感器连接在Bigfish扩展板A0端口(如下图所示)
https://28846868.s21i.faiusr.com/2/ABUIABACGAAglJyYogYogMDbwgYwoBc4wA8!600x600.jpg.webp
3. 功能实现
编程环境:Arduino 1.8.19
实现思路:机器人小车前进过程中,左边触须传感器触发后,小车右转;右边触须传感器触发后,小车左转;两个传感器同时触发后,小车后退、转弯并前进。
将参考例程(sketch_apr23a.ino)下载到主控板,小车将实现避障功能,实验效果可参考官网演示视频。
/*------------------------------------------------------------------------------------
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 2023-04-23 https://www.robotway.com/
------------------------------*/
void tui();
void youzhuan();
void zuozhuan();
void go();
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) ))
{
tui();
delay( 1000 );
zuozhuan();
delay( 1000 );
}
else
{
if (( digitalRead(14) && !( digitalRead(18) ) ))
{
tui();
delay( 1000 );
youzhuan();
delay( 1000 );
}
else
{
if (( !( digitalRead(14) ) && !( digitalRead(18) ) ))
{
tui();
delay( 1000 );
youzhuan();
delay( 1000 );
}
else
{
go();
}
}
}
}
void zuozhuan()
{
analogWrite(6 , 0);
analogWrite(10 , 0);
analogWrite(5 , 80);
analogWrite(9 , 0);
}
void youzhuan()
{
analogWrite(6 , 80);
analogWrite(10 , 0);
analogWrite(5 , 0);
analogWrite(9 , 0);
}
void go()
{
analogWrite(6 , 80);
analogWrite(10 , 0);
analogWrite(5 , 80);
analogWrite(9 , 0);
}
void tui()
{
analogWrite(6 , 0);
analogWrite(10 , 80);
analogWrite(5 , 0);
analogWrite(9 , 80);
}
4. 资料下载
资料内容:
①触须避障-例程源代码
②触须避障-样机3D文件
资料下载地址:https://www.robotway.com/h-col-113.html
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