Lisolo 30/31: Kolandela nzela ya motuka-8 na Smart Car longwa na SunFounder Arduino Kit | Robojax

Lisolo 30/31: Kolandela nzela ya motuka-8 na Smart Car longwa na SunFounder Arduino Kit | Robojax

Liyambo ili likutambusa mu kutunga motuka ya mayele oyo elandaka nzela na kati ya kit ya SunFounder 3-in-1 Arduino.

 Projet oyo, oyo emonisami na vidéo, esalelaka module ya kolanda nzela ya infrarouge mpo na koyeba nzela ya mwindo na likolo ya esika ya pembe mpe kokamba ba moteur mibale mpo na kobatela motuka na nzela. Oyo ezali projet ya robotique ya libota oyo etangisaka yo kotanga ba senseur, logique ya condition, mpe kokamba ba moteur. Na ntina ya motuya na yango ya solo ezali monene—ezali moboko ya ba véhicules ya bokambi ya automatique (AGVs) na ba entrepôts, ba aspirateurs robotiques oyo balandaka bandelo ya ba chambres, mpe ba plateformes ya kelasi mpo na koyekola bokambi ya autonomie. Na ngambo ya botongi ya liboso, okoki kosalela makanisi oyo mpo na:

• Kokela robot ya pete oyo ekoki kotambola na nzela oyo ekatama liboso na labyrinthe to na nzela.
• Kotunga mokumba ya kosamba na automatique mpo na bureau moke to laboratoire.
• Kokela robot oyo elandaka nzela mpo na projet ya kelasi ya siansi to ya lisano.
• Kosala prototype ya système mpo na bande ya transport ya industrie oyo esanganisaka biloko kolanda esika na yango.

Ba Hardware mpe Ba Composants

Mokolo ya projet oyo ezali module ya kolanda nzela, oyo esalelaka paire ya émetteur mpe récepteur ya infrarouge (IR). Tala elobeli ya ba composants ya ntina:

• Module ya Kolanda Nzela (TCRT5000): Senseur oyo ebimisaka pole ya infrarouge mpe emekaka intensité oyo ezongaka. Module yango ezali na comparateur LM393 mpo na kobongola signal analogique na sortie digitale HIGH to LOW.
• Châssis ya Motuka ya Mayele na Ba Moteur: Kit ya SunFounder ezali na cadre ya motuka na ba moteur ya engrenage mibale, oyo bokambamaka na Arduino mpo na kotambwisa motuka.
• Arduino Board: "Bɔpɛ" ya opération, oyo abalukaka senseur mpe atindaka mitindo na ba moteur.
• Moteyi ya Moteur (na shield ya motuka): Circuit oyo epesaka ba pins ya Arduino ya nguya moke makoki ya kokamba ba moteur ya courant monene.

Bokambi ya Ba Fils

Bokambi ya ba fils ya module ya kolanda nzela ezali pete. Vidéo emonisaka ba connexions boye (na vidéo na 04:04):

• Line Tracker VCC (pin ya kati): Bongisa na pin ya 5V ya Arduino.
• Line Tracker GND (pin ya loboko ya gauche): Bongisa na pin ya GND ya Arduino.
• Line Tracker OUT (pin ya loboko ya droite): Bongisa na pin digitale 2 ya Arduino.

Ba moteur bongisami na moteyi ya moteur na shield ya motuka. Na code, moteur ya droite ekambamaka na ba pins 5 mpe 6, mpe moteur ya gauche na ba pins 9 mpe 10, ndenge emonisami na démonstration ya vidéo (na vidéo na 12:28).

Liloba ya Code

Code yango esalemi mpo na kotanga signal digitale ya senseur ya nzela mpe kokamba ba moteur na ndenge yango. Tala ba parties ya ntina oyo esengeli kobongisama na mosaleli:

const int in1 = 5; // in1,2 mpo na moteur ya droite
const int in2 = 6;

const int in3 = 9; // in3,4 mpo na moteur ya gauche
const int in4 = 10;

const int lineTrack = 2;

• Ba Pins ya Moteur (in1, in2, in3, in4): Ba constantes oyo balobaka ba pins nini ya Arduino bongisami na moteyi ya moteur. Soki bokambi ya ba fils na yo ekeseni, okoki kobongola ba valeurs oyo mpo na kokokana na mise en place na yo.
• Pin ya Senseur ya Nzela (lineTrack): Oyo elobaka pin digitale oyo bongisami na sortie ya signal ya senseur. Code yango etangaka pin oyo mpo na koyeba soki senseur ezali likolo ya esika ya mwindo to ya pembe.

Na boucle principale, okoki kobongola variable speed mpo na kokamba vitesse ya kobongwana ya motuka. Valeur yango ebandaka na 0 kino na 255, epai valeur ya likolo epesaka motuka mbangu ya kobongwana.

int speed = 150;//0 kino na 255

Logique ezali pete: soki senseur atangaka HIGH (nzela ya mwindo), motuka ebalukaka na gauche; soki te, ebalukaka na droite. Ba fonctions personnalisées moveLeft() mpe moveRight() bakambaka ba moteur mpo na kosala oyo. Na ndakisa, mpo na kobongwana na gauche, moteur ya droite ebalukaka ntango moteur ya gauche atelemaka, mpe motuka ebalukaka. Ezaleli oyo elobami na ndenge ya malamu na vidéo (na vidéo na 10:39).

Démonstration ya Projet na Bomoi

Vidéo esukisaka na démonstration ya bomoi ya motuka oyo elandaka nzela (na vidéo na 13:13). Motuka etiamaka na nzela ya mwindo, mpe senseur etiamaka mbala moko likolo ya nzela. Ntango motuka etambolaka, senseur eyebaka nzela ya mwindo mpe esika ya pembe, mpe atindaka ba signaux na ba moteur mpo na kobongola direction na yango. Démonstration emonisaka motuka elongi kosala cercle mobimba, mpe yango epesaka elembo ya efficacité ya logique ya pete ya kobongisa na gauche/droite.

Ba Chapitres

• [00:00] Bokɔ na kolandela nzela ya ligne
• [01:09] Ndenge module ya kolandela nzela esalaka
• [04:04] Kokangisa module ya kolandela nzela
• [04:23] Komeka senseur na Serial Monitor
• [07:27] Kososola logique ya kolanda nzela
• [09:08] Code ya motuka oyo elandaka nzela
• [11:37] Emoniseli ya motuka oyo elandaka nzela
• [13:13] Test ya bomoi na nzela ya moyindo

Images

Lesson 30 line tracking wiring

Lesson 30 line tracking line 1

Lesson 30 line tracking how line

Lesson 30 line tracking sensor on line

Lesson 30 line tracking wiring

Lesson 30 line tracking line 1

Lesson 30 line tracking how line

Lesson 30 line tracking sensor on line

/*
this is code for the tutorial: Lesson 30/31: Car-8 Line Tracking by Smart Car from SunFounder Arduino Kit
YouTube video: https://www.youtube.com/watch?v=Cp2rD5RkYug
Get the code from: 📚⬇️ Download and resource page https://robojax.com/RJT613
www.robojax.com

*/
const int in1 = 5; // in1,2 for right motor
const int in2 = 6;

const int in3 = 9; // in3,4 for left motor
const int in4 = 10;

const int lineTrack = 2;

void setup() {
  Serial.begin(9600);

  //motor
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  
  //line track
  pinMode(lineTrack, INPUT);
}

void loop() {

  int speed = 150;//0 to 255

  int lineColor = digitalRead(lineTrack); // 0:white  1:black
  // Serial.println(lineColor); //print on the serial monitor
  if (lineColor) {
    Serial.print("Black ");
    moveLeft(speed);
  } else {
    Serial.print("White ");
    moveRight(speed);
  }
}
void moveLeft(int speed) {
  Serial.println("LEFT");
  analogWrite(in1, 0);
  analogWrite(in2, speed);
  
  analogWrite(in3, 0);
  analogWrite(in4, 0);
}

void moveRight(int speed) {
  Serial.println("RIGHT");
  analogWrite(in1, 0);
  analogWrite(in2, 0);
  
  analogWrite(in3, speed);
  analogWrite(in4, 0);
}