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Update v1.1

master
Evangelos Oulis 5 years ago
parent
commit
b4edd32fce
  1. 138
      autonomousCar/autonomousCar.ino

138
autonomousCar/autonomousCar.ino

@ -2,7 +2,7 @@
* Athors: Oulis Evnagelos, Oulis Nikolaos, Katsibras Drosos
* Ultrasonic Sensor HC-SR04 and Arduino
* Dual Stepper Motor Shiled 1.1
*
* Subject: Autonomous Car Parking
*/
/*
@ -28,33 +28,31 @@
* All Definitions.
*/
#define ULTRASONIC_TIMEOUT 100000
#define SERVO_SPEED 6
#define SERVO_SPEED 1
#define MAX_DISTANCE 200
/*
* -------------------------------------------------------
* Definitions for Motor Driver Pins.
*/
#define IN1 2
#define IN2 4
#define IN3 7
#define IN4 8
#define RIGHTSPEED 5
#define LEFTSPEED 3
#define MAX_WHEEL_SPEED 255
/*
* Define Ultrasonic Pins
*/
const int trigPin = 12;
const int echoPin = 11;
/*
* For Motor Driver Pis.
* Definitions for Ultrasonic Pins
*/
const int in1 = 2;
const int in2 = 4;
const int in3 = 7;
const int in4 = 8;
const int rightSpeed = 5;
const int leftSpeed = 3;
#define TRIGPIN 12
#define ECHOPIN 11
/*
* For Servo Motor Pins
* Definitions for Servo Motor Pins.
*/
const int servoPin = 6;
#define SERVOPIN 6
/*
* -------------------------------------------------------
* Define Servo Data Struct
*/
Servo myServo;
@ -62,7 +60,7 @@ Servo myServo;
/*
* Define Ultrasonic Struct
*/
NewPing sonar1 (trigPin, echoPin, MAX_DISTANCE);
NewPing sonar1 (TRIGPIN, ECHOPIN, MAX_DISTANCE);
/*
* Define all useful variables
@ -93,33 +91,29 @@ void turnServo(int from, int deg){
* Setup Wiring Components
*/
void setup() {
//pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
//pinMode(echoPin, INPUT); // Sets the echoPin as an Input
//pinMode(TRIGPIN, OUTPUT); // Sets the TRIGPIN as an Output
//pinMode(ECHOPIN, INPUT); // Sets the ECHOPIN as an Input
//pinMode(response, OUTPUT); // Sets to led aoutput.
pinMode(in1, OUTPUT); //Motor Driver 1st Pin
pinMode(in2, OUTPUT); //Motor Driver 2nd Pin
pinMode(in3, OUTPUT); //Motor Driver 3rd Pin
pinMode(in4, OUTPUT); //Motor Driver 4th Pin
pinMode(IN1, OUTPUT); //Motor Driver 1st Pin
pinMode(IN2, OUTPUT); //Motor Driver 2nd Pin
pinMode(IN3, OUTPUT); //Motor Driver 3rd Pin
pinMode(IN4, OUTPUT); //Motor Driver 4th Pin
pinMode(rightSpeed, OUTPUT);
pinMode(leftSpeed, OUTPUT);
pinMode(RIGHTSPEED, OUTPUT);
pinMode(LEFTSPEED, OUTPUT);
//Initialize Servo Motor
myServo.attach(servoPin);
myServo.attach(SERVOPIN);
pos = 1;
dir = 1;
//Initialize car direction and make walk
absolute();
absolute(MAX_WHEEL_SPEED);
forward();
Serial.begin(9600); // Starts the serial communication
// Clears the trigPin
analogWrite(trigPin, LOW);
delayMicroseconds(2);
}
/*
@ -157,10 +151,11 @@ void next_step()
* Distance meter via Ultrasonic
*/
float getDistance(int echoPin, int trigPin){
float getDistance(){
do{
int uS1 = sonar1.ping();
distanceCm = uS1 / US_ROUNDTRIP_CM;
delayMicroseconds(2);
} while(distanceCm == 0);
return distanceCm;
@ -169,25 +164,25 @@ float getDistance(int echoPin, int trigPin){
/*
* Left turn walk
*/
void turnLeft(){
analogWrite(leftSpeed, 255);
analogWrite(rightSpeed, 0);
void turnLeft(const int wheelSpeed){
analogWrite(LEFTSPEED, wheelSpeed);
analogWrite(RIGHTSPEED, 0);
}
/*
* Right turn walk
*/
void turnRight(){
analogWrite(leftSpeed, 0);
analogWrite(rightSpeed, 255);
void turnRight(const int wheelSpeed){
analogWrite(LEFTSPEED, 0);
analogWrite(RIGHTSPEED, wheelSpeed);
}
/*
* Straight walk
*/
void absolute(){
analogWrite(leftSpeed, 255);
analogWrite(rightSpeed, 255);
void absolute(const int wheelSpeed){
analogWrite(LEFTSPEED, wheelSpeed);
analogWrite(RIGHTSPEED, wheelSpeed);
}
/*
@ -195,11 +190,11 @@ void absolute(){
*/
void backward(){
// Set Motor A backward
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
// Set Motor B backward
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
/*
@ -207,44 +202,44 @@ void backward(){
*/
void forward(){
// Set Motor A forward
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
// Set Motor B forward
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
/*
* Stop motors
*/
void motor_stop(){
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}
void turn(){
void turn(const int wheelSpeed){
if (pos == 1){
absolute();
absolute(wheelSpeed);
} else if (pos == 2){
turnLeft();
turnLeft(wheelSpeed);
} else if (pos == 3){
absolute();
absolute(wheelSpeed);
} else if (pos == 4){
turnRight();
turnRight(wheelSpeed);
}
}
void moveCar(){
if (pos == 3){
if (dir == 1){
turnRight();
turnRight(MAX_WHEEL_SPEED);
backward();
dir = 2;
} else{
turnLeft();
turnLeft(MAX_WHEEL_SPEED);
backward();
dir = 1;
@ -258,20 +253,27 @@ void moveCar(){
void loop() {
// Calculating the distance
distance= getDistance(echoPin, trigPin);
distance= getDistance();
// Prints the distance on the Serial Monitor
Serial.print("Distance: ");
Serial.println(distance);
//Serial.print("Distance: ");
//Serial.println(distance);
if (distance <15) {
// Change direction to motors
turn(225);
} else if (distance <13){
turn(200);
} else {
// Change direction to motors
turn(MAX_WHEEL_SPEED);
}
if (distance < 6){
motor_stop();
// Set Ultrasonic to next step
next_step();
// Change direction to motors
turn();
// Move car
moveCar();
delay(1000);
}
delay(100);
}

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