Codigos robotica | carrinho arduino

Author: mattheusbr

carro/carro/Ultrasonic.h

@@ -0,0 +1,73 @@
+/*
+ * Ultrasonic.h - Library for HC-SR04 Ultrasonic Sensing Module.
+ *
+ * With ideas from:
+ *   Created by ITead studio. Alex, Apr 20, 2010.
+ *   iteadstudio.com
+ *
+ * SVN Keywords
+ * ----------------------------------
+ * $Author: cnobile $
+ * $Date: 2011-12-07 21:49:14 -0500 (Wed, 07 Dec 2011) $
+ * $Revision: 38 $
+ * ----------------------------------
+ *
+ * Thank you to Rowan Simms for pointing out the change in header name with
+ * Arduino version 1.0 and up.
+ *
+ */
+
+#ifndef ULTRASONIC_H
+#define ULTRASONIC_H
+
+#include <stddef.h>
+
+#if defined(ARDUINO) && ARDUINO >= 100
+  #include <Arduino.h>
+#else
+  #include <WProgram.h>
+#endif
+
+// Undefine COMPILE_STD_DEV if you don't want Standard Deviation.
+#define COMPILE_STD_DEV
+
+
+typedef struct bufferCtl
+    {
+    float *pBegin;
+    float *pIndex;
+    size_t length;
+    bool filled;
+    } BufCtl;
+
+class Ultrasonic
+    {
+    public:
+    Ultrasonic(int tp, int ep);
+    long timing();
+    float convert(long microsec, int metric);
+    void setDivisor(float value, int metric);
+    static const int IN = 0;
+    static const int CM = 1;
+
+#ifdef COMPILE_STD_DEV
+    bool sampleCreate(size_t size, ...);
+    void sampleClear();
+    float unbiasedStdDev(float value, size_t bufNum);
+#endif // COMPILE_STD_DEV
+
+    private:
+    int _trigPin;
+    int _echoPin;
+    float _cmDivisor;
+    float _inDivisor;
+
+#ifdef COMPILE_STD_DEV
+    size_t _numBufs;
+    BufCtl *_pBuffers;
+    void _sampleUpdate(BufCtl *buf, float msec);
+    void _freeBuffers();
+#endif // COMPILE_STD_DEV
+    };
+
+#endif // ULTRASONIC_H

carro/carro/carro.ino

@@ -0,0 +1,107 @@
+#include <AFMotor.h>
+#include <Ultrasonic.h>
+
+#define DISTANCIA_DESVIAR 30.0 //cm
+#define DELAY_LEITURA     250  //ms
+#define pino_trigger 13
+#define pino_echo 2
+
+AF_DCMotor motor(4);
+AF_DCMotor eixo(1);
+
+Ultrasonic ultrasonic(pino_trigger, pino_echo);
+
+int quantidadeVerificacao = 0;
+
+void setup() {
+  eixo.setSpeed(255);
+  motor.setSpeed(255);
+  VirarDireita();
+  delay(500);
+  VirarEsquerda();
+  delay(500);
+  Frente();
+  delay(500);
+  MotorParaFrente();
+  Frente();
+}
+
+void loop() {
+   VerificarObjeto();
+   delay(DELAY_LEITURA);   
+}
+
+void VerificarObjeto(){
+  MotorParaFrente();
+  
+  if(CalcularDistanciaSensor() <= DISTANCIA_DESVIAR){
+    switch(quantidadeVerificacao){
+      case 0:
+        MotorParaAtras();
+        delay(100);
+        //DesligarMotor();
+        VirarEsquerda();
+        MotorParaFrente();
+        delay(2000);
+        break;
+      case 1:
+        MotorParaAtras();
+        delay(2000);
+        DesligarMotor();
+        delay(500);
+        VirarDireita();
+        MotorParaFrente();
+        delay(2000);
+        break;
+       case 2:
+        MotorParaAtras();
+        VirarEsquerda();
+        delay(2000);
+        MotorParaFrente();
+        Frente();
+        delay(500);
+        break;
+      default:
+        quantidadeVerificacao = 0;
+        VerificarObjeto();
+    }
+    
+    DesligarMotor();
+    //servo.attach(frente); 
+    quantidadeVerificacao++;
+        
+    VerificarObjeto();
+  }else{
+    quantidadeVerificacao = 0;
+    MotorParaFrente();
+    Frente();
+  }
+}
+void DesligarMotor(){
+  motor.run(RELEASE);
+}
+
+void MotorParaFrente(){
+  motor.run(FORWARD);
+}
+
+void MotorParaAtras(){
+  motor.run(BACKWARD);
+}
+
+void VirarDireita(){
+  eixo.run(FORWARD);
+}
+
+void VirarEsquerda(){
+  eixo.run(BACKWARD);
+}
+
+void Frente(){
+  eixo.run(RELEASE);
+}
+
+float CalcularDistanciaSensor(){
+  long microsec = ultrasonic.timing();  
+  return ultrasonic.convert(microsec, Ultrasonic::CM);
+}

motor/motor.ino

@@ -1,9 +1,31 @@
+#include <AFMotor.h>
+#include <Servo.h> 
+#include <Ultrasonic.h>
+
+Servo servo;
+//AF_DCMotor motor(1);
+//AF_DCMotor motor2(2);
+
+#define pino_trigger 13
+#define pino_echo 2
+
+//Ultrasonic ultrasonic(pino_trigger, pino_echo);
+
+int frente = 93;
+int esquerda = 0;
+int direita = 180;
+int acelerar = 150;
+int i = 0;
+
+long distanciaDesviar = 25.0;
+
 void setup() {
-  pinMode(13, OUTPUT);
+  Serial.begin(9600);  
+  servo.attach(10);
+  servo.write(0); 
+  
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
-  digitalWrite(13, HIGH);
-  
+   servo.write(direita);
 }

servo/servo/Keyboard.h

@@ -4,7 +4,6 @@ Servo servo;
 int posicao = 90;
 char caractere;
 
-
 void setup() {
   pinMode(13, OUTPUT);
   servo.attach(8);