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= **ΑΥΤΟΝΟΜΟ ΠΑΡΚΑΡΙΣΜΑ** |
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=== ΔΗΜΗΤΡΙΟΣ ΝΙΑΒΗΣ (141070) |
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=== ΑΠΟΣΤΟΛΟΣ ΣΥΡΙΩΔΗΣ (46683) |
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=== ΜΕΝΕΛΑΟΣ ΠΙΚΡΙΔΑΣ (141291) |
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image::iot.jpg[] |
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TIP: ΕΡΓΑΣΙΑ ΣΤΑ ΠΛΑΙΣΙΑ ΤΟΥ ΜΑΘΗΜΑΤΟΣ "ΔΙΑΔΙΚΤΥΟ ΤΩΝ ΑΝΤΙΚΕΙΜΕΝΩΝ" |
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== ΠΕΡΙΓΡΑΦΗ ΕΡΓΑΣΙΑΣ |
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*Σκοπός της εργασίας μας είναι η συναρμολόγηση και η κωδικοποίηση ενός αυτοκινήτου, |
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ώστε να μπορεί να παρκάρει αυτόνομα.* |
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Αρχικά τοποθετήσαμε στο πάνω μέρος τoυ αυτοκινήτου την υποδοχή για τις μπαταρίες |
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και τοποθετήσαμε μέσα τις Μπαταρίες. Πάνω σε αυτό βάλαμε το Arduino. |
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Πάνω στο Arduino, στις υποδοχές Digital PwM, τοποθετήσαμε |
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το Adafruit Motorshield. Σε αυτό συνδέσαμε τα motors του DIY Αυτοκινήτου. |
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Δίπλα απο το Arduino κολλήσαμε το Breadboard στο οποίο συνδέσαμε |
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τους 4 Αισθητήρες Μέτρησης Απόστασης HC-SR04. Το Arduino έχει ως πηγή ρεύματος |
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ένα μικρό Powerbank, ενώ το Adafruit Motorshield - Α |
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έχει ως πηγή ρεύματος τις μπαταρίες. Οι Αισθητήρες Μέτρησης Απόστασης |
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HC-SR04 έχουν ως πηγή ρεύματος τις μπαταρίες. |
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Στην εργασία χρησιμοποιήθηκαν: |
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- 1 ARDUINO UNO. |
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- 1 ADAFRUIT MOTORSHIELD. |
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- 1 RASPBERRY PI. |
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- 1 DIY ΑΥΤΟΚΙΝΗΤΟ ΜΕ 4 MOTORS. |
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- 1 BREADBOARD. |
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- 6 ΑΙΣΘΗΤΗΡΕΣ ΜΕΤΡΗΣΗΣ ΑΠΟΣΤΑΣΗΣ HC-SR04. |
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- 3 ΜΑΤΣΑΚΙΑ ΚΑΛΩΔΙΑ ΑΡΣΕΝΙΚΟ - ΘΗΛΥΚΟ, ΘΗΛΥΚΟ - ΘΗΛΥΚΟ, ΑΡΣΕΝΙΚΟ - ΑΡΣΕΝΙΚΟ. |
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- 1 ΥΠΟΔΟΧΗ ΓΙΑ ΜΠΑΤΑΡΙΕΣ. |
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- 4 ΜΠΑΤΑΡΙΕΣ. |
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== ΛΕΙΤΟΥΡΓΙΑ ΤΟΥ ΑΥΤΟΚΙΝΗΤΟΥ |
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Το αυτοκίνητο ξεκινά με μέση ταχύτητα 100. Το αυτοκίνητο δέχεται ταχύτητες απο 0 - 255. |
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Μόλις συναντήσει εμπόδιο το οποίο βρίσκεται σε απόσταση 8cm απο το αυτοκίνητο, |
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τότε αυτό σταματάει και έπειτα προχωράει προς την αντί - Αθετη κατεύθυνση. |
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Παράλληλα, οι αισθητήρες απόστασης στα δεξιά και αριστερά του αυτοκινήτου μετρούν |
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τις αποστάσεις απο τα αντικείμενα που υπάρχουν. Μόλις συναντήσουν ένα κενό, το οποίο |
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είναι μεγαλύτερο ή ίσο με το μήκος του αυτοκινήτου, |
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τότε το ατοκίνητο συνεχίζει την πορεία του για ελάχιστα μέτρα και έπειτα οπισθοχωρεί διαγώνια, |
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ώστε να μπεί στην θέση παρκαρίσματος. |
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== ΤΟ DIY ΑΥΤΟΚΙΝΗΤΟ |
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image::IMG-5aaaa10654529dd76b248ac1ec68000d-V.jpg[] |
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video::20200120_180137.mp4[width=640, start=60, end=140, options=autoplay] |
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== ARDUINO CODE |
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Ο κώδικας μας είναι ανεβασμένος στο GitHub |
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CAUTION: BLOOPER VIDEO |
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video::video-1579544521.mp4[width=640, start=60, end=140, options=autoplay] |
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#include <Wire.h> |
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#include <Adafruit_MotorShield.h> |
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#include "utility/Adafruit_MS_PWMServoDriver.h" |
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//define logic control output pin
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#define trigPin1 13 |
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#define echoPin1 12 |
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#define trigPin2 A3 |
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#define echoPin2 A2 |
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#define trigPin3 7 |
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#define echoPin3 6 |
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#define trigPin4 9 |
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#define echoPin4 8 |
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#define trigPin5 A1 |
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#define echoPin5 A0 |
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#define trigPin6 11 |
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#define echoPin6 10 |
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// Create the motor shield object with the default I2C address
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Adafruit_MotorShield AFMS = Adafruit_MotorShield(); |
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// Select which 'port' M1, M2, M3 or M4. In this case, M1
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Adafruit_DCMotor *myMotor = AFMS.getMotor(1); |
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Adafruit_DCMotor *myMotor2 = AFMS.getMotor(2); |
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Adafruit_DCMotor *myMotor3 = AFMS.getMotor(3); |
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Adafruit_DCMotor *myMotor4 = AFMS.getMotor(4); |
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void setup() { |
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Serial.begin(9600); // set up Serial library at 9600 bps
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// Configure the pin modes for each drive motor
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pinMode(trigPin1, OUTPUT); |
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pinMode(echoPin1, INPUT); |
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pinMode(trigPin2, OUTPUT); |
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pinMode(echoPin2, INPUT); |
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pinMode(trigPin3, OUTPUT); |
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pinMode(echoPin3, INPUT); |
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pinMode(trigPin4, OUTPUT); |
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pinMode(echoPin4, INPUT); |
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pinMode(trigPin5, OUTPUT); |
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pinMode(echoPin5, INPUT); |
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pinMode(trigPin6, OUTPUT); |
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pinMode(echoPin6, INPUT); |
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AFMS.begin(); // create with the default frequency 1.6KHz
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// Set the speed to start, from 0 (off) to 255 (max speed)
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myMotor->setSpeed(100); |
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myMotor->run(BACKWARD); |
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myMotor2->setSpeed(100); |
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myMotor2->run(FORWARD); |
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myMotor3->setSpeed(100); |
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myMotor3->run(FORWARD); |
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myMotor4->setSpeed(100); |
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myMotor4->run(BACKWARD); |
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} |
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void loop() { |
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long duration1, distance1; |
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long duration2, distance2; |
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long duration3, distance3; |
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long duration4, distance4; |
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long duration5, distance5; |
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long duration6, distance6; |
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long a, b, c, d, e; |
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digitalWrite(trigPin1, LOW); // Sets the trigPin1 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin1, HIGH); // Sets the trigPin1 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin1, LOW); |
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duration1 = pulseIn(echoPin1, HIGH); // Reads the echoPin1, returns the sound wave travel time in microseconds
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digitalWrite(trigPin2, LOW); // Sets the trigPin2 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin2, HIGH); // Sets the trigPin2 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin2, LOW); |
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duration2 = pulseIn(echoPin2, HIGH); // Reads the echoPin2, returns the sound wave travel time in microseconds
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digitalWrite(trigPin3, LOW); // Sets the trigPin3 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin3, HIGH); // Sets the trigPin3 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin3, LOW); |
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duration3 = pulseIn(echoPin3, HIGH); // Reads the echoPin3, returns the sound wave travel time in microseconds
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digitalWrite(trigPin4, LOW); // Sets the trigPin4 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin4, HIGH); // Sets the trigPin4 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin4, LOW); |
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duration4 = pulseIn(echoPin4, HIGH); // Reads the echoPin4, returns the sound wave travel time in microseconds
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digitalWrite(trigPin5, LOW); // Sets the trigPin5 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin5, HIGH); // Sets the trigPin5 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin5, LOW); |
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duration5 = pulseIn(echoPin5, HIGH); // Sets the trigPin5 on HIGH state for 10 micro seconds
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digitalWrite(trigPin6, LOW); // Sets the trigPin6 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin6, HIGH); // Sets the trigPin6 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin6, LOW); |
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duration6 = pulseIn(echoPin6, HIGH); // Sets the trigPin6 on HIGH state for 10 micro seconds
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// Calculating the distance
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distance1 = (duration1 /2) / 29.1; |
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distance2 = (duration2 /2) / 29.1; |
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distance3 = (duration3 /2) / 29.1; |
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distance4 = (duration4 /2) / 29.1; |
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distance5 = (duration5 /2) / 29.1; |
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distance6 = (duration6 /2) / 29.1; |
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// Prints the distance on the Serial Monitor
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Serial.print(distance1); |
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Serial.println(" cm"); |
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Serial.print(distance2); |
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Serial.println(" cm"); |
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Serial.print(distance3); |
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Serial.println(" cm"); |
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Serial.print(distance4); |
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Serial.println(" cm"); |
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Serial.print(distance5); |
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Serial.println(" cm"); |
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Serial.print(distance6); |
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Serial.println(" cm"); |
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Serial.println("\n"); |
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a = stop0(distance1, distance2, distance5, distance6); |
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b = move1(distance1, distance2, distance5, distance6); |
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c = move2(distance1, distance2, distance5, distance6); |
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d = turn1(distance1, distance2, distance3, distance4, distance5); |
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e = turn2(distance1, distance2, distance3, distance4, distance5); |
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} |
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long stop0 (long dis1, long dis2, long dis5, long dis6) //define stop function
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{ |
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if (dis1 <= 8 && dis2 <= 8 && dis5 <=8 && dis6 <= 8) |
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{ |
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myMotor ->run(RELEASE); |
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myMotor2->run(RELEASE); |
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myMotor3->run(RELEASE); |
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myMotor4->run(RELEASE); |
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Serial.println("stop0"); |
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} |
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} |
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long move1 (long dis1, long dis2, long dis5, long dis6) //define forward function
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{ |
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if (dis1 < 8 && dis2 > 4 && dis5 > 4 && dis6 < 8) { |
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Serial.println("move1"); |
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myMotor ->run(FORWARD); |
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myMotor2->run(BACKWARD); |
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myMotor3->run(BACKWARD); |
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myMotor4->run(FORWARD); |
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myMotor ->setSpeed(100); |
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myMotor2->setSpeed(100); |
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myMotor3->setSpeed(100); |
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myMotor4->setSpeed(100); |
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delay(100); |
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} |
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} |
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long move2 (long dis1, long dis2, long dis5, long dis6) //define backward function
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{ |
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if (dis2 < 4 && dis1 > 8 && dis5 < 4 && dis6 > 8) |
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{ |
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Serial.println("move2"); |
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myMotor ->run(BACKWARD); |
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myMotor2->run(FORWARD); |
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myMotor3->run(FORWARD); |
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myMotor4->run(BACKWARD); |
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myMotor ->setSpeed(100); |
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myMotor2->setSpeed(100); |
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myMotor3->setSpeed(100); |
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myMotor4->setSpeed(100); |
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delay(100); |
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} |
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} |
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long turn1 (long dis1, long dis2, long dis3, long dis4, long dis5) //define right turn function
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{ |
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long dur1, dur2, dur3, dur4, dur5, dur6; |
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while (dis2 > 7 && dis3 < 9 && dis4 > 2 && dis5 > 9){ |
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Serial.println("turn1"); |
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myMotor ->run(FORWARD); |
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myMotor2->run(BACKWARD); |
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myMotor3->run(BACKWARD); |
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myMotor4->run(FORWARD); |
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myMotor ->setSpeed(200); |
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myMotor2->setSpeed(200); |
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myMotor3->setSpeed(20); |
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myMotor4->setSpeed(20); |
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digitalWrite(trigPin1, LOW); // Sets the trigPin1 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin1, HIGH); // Sets the trigPin1 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin1, LOW); |
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dur1 = pulseIn(echoPin1, HIGH); // Reads the echoPin1, returns the sound wave travel time in microseconds
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digitalWrite(trigPin2, LOW); // Sets the trigPin2 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin2, HIGH); // Sets the trigPin2 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin2, LOW); |
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dur2 = pulseIn(echoPin2, HIGH); // Reads the echoPin2, returns the sound wave travel time in microseconds
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digitalWrite(trigPin3, LOW); // Sets the trigPin3 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin3, HIGH); // Sets the trigPin3 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin3, LOW); |
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dur3 = pulseIn(echoPin3, HIGH); // Reads the echoPin3, returns the sound wave travel time in microseconds
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digitalWrite(trigPin4, LOW); // Sets the trigPin4 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin4, HIGH); // Sets the trigPin4 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin4, LOW); |
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dur4 = pulseIn(echoPin4, HIGH); // Reads the echoPin4, returns the sound wave travel time in microseconds
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digitalWrite(trigPin5, LOW); // Sets the trigPin5 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin5, HIGH); // Sets the trigPin5 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin5, LOW); |
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dur5 = pulseIn(echoPin5, HIGH); // Sets the trigPin5 on HIGH state for 10 micro seconds
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// Calculating the distance
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dis1 = (dur1 /2) / 29.1; |
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dis2 = (dur2 /2) / 29.1; |
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dis3 = (dur3 /2) / 29.1; |
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dis4 = (dur4 /2) / 29.1; |
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dis5 = (dur5 /2) / 29.1; |
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delay(120); |
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myMotor ->run(RELEASE); |
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myMotor2->run(RELEASE); |
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myMotor3->run(RELEASE); |
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myMotor4->run(RELEASE); |
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} |
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} |
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long turn2 (long dis1, long dis2, long dis3, long dis4, long dis5) //define left function
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{ |
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long dur1, dur2, dur3, dur4, dur5; |
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while (dis2 < 6 && dis3 < 8 && dis4 > 2){ |
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Serial.println("turn2"); |
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myMotor ->run(FORWARD); |
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myMotor2->run(BACKWARD); |
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myMotor3->run(BACKWARD); |
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myMotor4->run(FORWARD); |
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myMotor ->setSpeed(30); |
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myMotor2->setSpeed(30); |
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myMotor3->setSpeed(200); |
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myMotor4->setSpeed(200); |
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digitalWrite(trigPin1, LOW); // Sets the trigPin1 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin1, HIGH); // Sets the trigPin1 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin1, LOW); |
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dur1 = pulseIn(echoPin1, HIGH); // Reads the echoPin1, returns the sound wave travel time in microseconds
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digitalWrite(trigPin2, LOW); // Sets the trigPin2 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin2, HIGH); // Sets the trigPin2 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin2, LOW); |
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dur2 = pulseIn(echoPin2, HIGH); // Reads the echoPin2, returns the sound wave travel time in microseconds
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digitalWrite(trigPin3, LOW); // Sets the trigPin3 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin3, HIGH); // Sets the trigPin3 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin3, LOW); |
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dur3 = pulseIn(echoPin3, HIGH); // Reads the echoPin3, returns the sound wave travel time in microseconds
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digitalWrite(trigPin4, LOW); // Sets the trigPin4 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin4, HIGH); // Sets the trigPin4 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin4, LOW); |
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dur4 = pulseIn(echoPin4, HIGH); // Reads the echoPin4, returns the sound wave travel time in microseconds
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digitalWrite(trigPin5, LOW); // Sets the trigPin5 on LOW state for 2 micro seconds
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delayMicroseconds(2); |
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digitalWrite(trigPin5, HIGH); // Sets the trigPin5 on HIGH state for 10 micro seconds
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delayMicroseconds(10); |
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digitalWrite(trigPin5, LOW); |
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dur5 = pulseIn(echoPin5, HIGH); // Sets the trigPin5 on HIGH state for 10 micro seconds
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// Calculating the distance
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dis1 = (dur1 /2) / 29.1; |
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dis2 = (dur2 /2) / 29.1; |
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dis3 = (dur3 /2) / 29.1; |
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dis4 = (dur4 /2) / 29.1; |
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delay(120); |
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myMotor ->run(RELEASE); |
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myMotor2->run(RELEASE); |
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myMotor3->run(RELEASE); |
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myMotor4->run(RELEASE); |
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} |
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} |
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Reference in new issue