Difference between revisions of "IntelliFrank"

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(code, updates)
(updated code)
Line 19: Line 19:
 
* 01/03/2012: Uploaded code (see below), works, but _only_ when USB cable is attached, otherwise Frank _always_ retreats!
 
* 01/03/2012: Uploaded code (see below), works, but _only_ when USB cable is attached, otherwise Frank _always_ retreats!
  
/*
+
<nowiki><pre>/*
 +
 
 
  Semi-intelligent steering for RC car
 
  Semi-intelligent steering for RC car
 
  bjornl
 
  bjornl
  01-03-2012
+
  29-02-2012
*/
+
 
+
*/
#define NO_MEASUREMENT 0
+
 
#define TOO_CLOSE 2000
+
#define NO_MEASUREMENT 0
#define QUITE_CLOSE 5000
+
#define TOO_CLOSE 2000
#define NOT_SO_CLOSE 15000
+
#define QUITE_CLOSE 5000
+
#define NOT_SO_CLOSE 15000
#define CAREFUL_FORWARD 200
+
 
#define STEP_FORWARD 400
+
#define CAREFUL_FORWARD 200
#define RUN_FORWARD 800
+
#define STEP_FORWARD 400
+
#define RUN_FORWARD 800
// these pins are connected straight to the receiver chip of the RC car
+
 
const int leftPin = 2;
+
// these pins are connected straight to the receiver chip of the RC car
const int rightPin = 3;
+
const int leftPin = 2;
const int fwdPin = 4;
+
const int rightPin = 3;
const int bwdPin = 5;
+
const int fwdPin = 4;
+
const int bwdPin = 5;
// between this pin and ground, there is a roller ball switch
+
 
const int rollerPin = 13;
+
// between this pin and ground, there is a roller ball switch
+
const int rollerPin = 13;
// little 5mm led, red :)
+
 
const int ledPin = 8;
+
// little 5mm led, red :)
+
const int ledPin = 8;
// rangefinder
+
 
const int triggerPin = 9;
+
// rangefinder
const int echoPin = 10;
+
const int triggerPin = 9;
+
const int echoPin = 10;
void setup() {
+
 
 +
void setup() {
 
   Serial.begin(9600);
 
   Serial.begin(9600);
 
   // set up the outputs
 
   // set up the outputs
Line 57: Line 59:
 
   pinMode( fwdPin, OUTPUT);
 
   pinMode( fwdPin, OUTPUT);
 
   pinMode( bwdPin, OUTPUT);
 
   pinMode( bwdPin, OUTPUT);
+
 
 
   pinMode( ledPin, OUTPUT);
 
   pinMode( ledPin, OUTPUT);
 
    
 
    
Line 63: Line 65:
 
   pinMode(triggerPin, OUTPUT);
 
   pinMode(triggerPin, OUTPUT);
 
   pinMode(echoPin, INPUT);
 
   pinMode(echoPin, INPUT);
}
+
}
+
 
void loop() {
+
void loop() {
 
   int measurement;
 
   int measurement;
 
    
 
    
Line 90: Line 92:
 
     goForward(runTime);
 
     goForward(runTime);
 
   }
 
   }
}
+
}
+
 
void panic() {
+
void panic() {
 
   Serial.println("Panic!");
 
   Serial.println("Panic!");
 
   // flash LED
 
   // flash LED
Line 101: Line 103:
 
     delay(100);
 
     delay(100);
 
   }
 
   }
}
+
}
+
 
void retreat() {
+
void retreat() {
 
   Serial.println("Retreat!");
 
   Serial.println("Retreat!");
   // Go forward for the given amount of time
+
   // Go backward left for the given amount of time
  digitalWrite(fwdPin, LOW);
+
  digitalWrite(bwdPin, HIGH);
+
 
   digitalWrite(rightPin, HIGH);
 
   digitalWrite(rightPin, HIGH);
 
   digitalWrite(leftPin, LOW);
 
   digitalWrite(leftPin, LOW);
   delay(1000);
+
   delay(200);
 +
  digitalWrite(fwdPin, LOW);
 +
  digitalWrite(bwdPin, HIGH);
 +
  delay(500);
 
   digitalWrite(bwdPin, LOW);
 
   digitalWrite(bwdPin, LOW);
 +
  delay(200);
 
   digitalWrite(rightPin, LOW);
 
   digitalWrite(rightPin, LOW);
}
+
}
+
 
void goForward(int runTime) {
+
void goForward(int runTime) {
 
   Serial.print("Forward: ");
 
   Serial.print("Forward: ");
 
   Serial.println(runTime);
 
   Serial.println(runTime);
Line 125: Line 129:
 
   delay(runTime);
 
   delay(runTime);
 
   digitalWrite(fwdPin, LOW);
 
   digitalWrite(fwdPin, LOW);
}
+
}
+
 
int getMeasurement() {
+
int getMeasurement() {
 
   Serial.print("Measurement: ");
 
   Serial.print("Measurement: ");
 
   int measurement;
 
   int measurement;
+
 
 
   // wait for some time, make it look like we are thinking ;)
 
   // wait for some time, make it look like we are thinking ;)
 
   digitalWrite(ledPin,HIGH);
 
   digitalWrite(ledPin,HIGH);
   delay(500);
+
   delay(1000);
 
+
 
 
   // send trigger pulse
 
   // send trigger pulse
 
   digitalWrite(triggerPin, HIGH);
 
   digitalWrite(triggerPin, HIGH);
Line 142: Line 146:
 
   Serial.println(measurement);
 
   Serial.println(measurement);
 
   digitalWrite(ledPin, LOW);
 
   digitalWrite(ledPin, LOW);
+
 
 
   return measurement;
 
   return measurement;
}
+
}
 +
 
 +
/* end */
 +
</pre></nowiki>

Revision as of 22:19, 1 March 2012

NURDspace Project
link=File:{{{Name}}}.jpg
Participants Bjornl, Buzz
Skills
Status
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Purpose
Tool
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{{{Name}}}
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{{{Picture}}} {{#if:{{{Tool}}} | [[Tool Owner::bjornl buZz | }} {{#if:{{{Tool}}} | [[Tool Cost::{{{Cost}}} | }}

buZz has an autonomous electric toy car, "Frank". Frank should be upgraded with sensors to avoid collisions and software to act more intelligently (and possibly execute small furry animals simple tasks).

This is probably a good way to get acquainted with Arduino programming.

  • create new, more intelligent programs
  • add sensors and programming for those sensors


  • 29/02/2012: Attached a Devantech SRF04 Ultrasonic Range Finder to Franks Arduino and got readings! Now working on more intelligent code.
  • 01/03/2012: Uploaded code (see below), works, but _only_ when USB cable is attached, otherwise Frank _always_ retreats!

<pre>/* Semi-intelligent steering for RC car bjornl 29-02-2012 */ #define NO_MEASUREMENT 0 #define TOO_CLOSE 2000 #define QUITE_CLOSE 5000 #define NOT_SO_CLOSE 15000 #define CAREFUL_FORWARD 200 #define STEP_FORWARD 400 #define RUN_FORWARD 800 // these pins are connected straight to the receiver chip of the RC car const int leftPin = 2; const int rightPin = 3; const int fwdPin = 4; const int bwdPin = 5; // between this pin and ground, there is a roller ball switch const int rollerPin = 13; // little 5mm led, red :) const int ledPin = 8; // rangefinder const int triggerPin = 9; const int echoPin = 10; void setup() { Serial.begin(9600); // set up the outputs pinMode( leftPin, OUTPUT); pinMode(rightPin, OUTPUT); pinMode( fwdPin, OUTPUT); pinMode( bwdPin, OUTPUT); pinMode( ledPin, OUTPUT); // set up the inputs pinMode(triggerPin, OUTPUT); pinMode(echoPin, INPUT); } void loop() { int measurement; // Get a measurement measurement = getMeasurement(); if (measurement == NO_MEASUREMENT) { // No valid signal was given, panic! panic(); } else if (measurement < TOO_CLOSE) { // Too close to wall, retreat! retreat(); } else { // Determine amount of time to run forward int runTime; if (measurement < QUITE_CLOSE) { runTime = CAREFUL_FORWARD; } else if (measurement < NOT_SO_CLOSE) { runTime = STEP_FORWARD; } else { runTime = RUN_FORWARD; } goForward(runTime); } } void panic() { Serial.println("Panic!"); // flash LED for (int i = 0; i < 10; i++) { digitalWrite(ledPin, HIGH); delay(100); digitalWrite(ledPin, LOW); delay(100); } } void retreat() { Serial.println("Retreat!"); // Go backward left for the given amount of time digitalWrite(rightPin, HIGH); digitalWrite(leftPin, LOW); delay(200); digitalWrite(fwdPin, LOW); digitalWrite(bwdPin, HIGH); delay(500); digitalWrite(bwdPin, LOW); delay(200); digitalWrite(rightPin, LOW); } void goForward(int runTime) { Serial.print("Forward: "); Serial.println(runTime); // Go forward for the given amount of time digitalWrite(fwdPin, HIGH); digitalWrite(bwdPin, LOW); digitalWrite(rightPin, LOW); digitalWrite(leftPin, LOW); delay(runTime); digitalWrite(fwdPin, LOW); } int getMeasurement() { Serial.print("Measurement: "); int measurement; // wait for some time, make it look like we are thinking ;) digitalWrite(ledPin,HIGH); delay(1000); // send trigger pulse digitalWrite(triggerPin, HIGH); delayMicroseconds(10); digitalWrite(triggerPin, LOW); measurement = pulseIn(echoPin, HIGH); Serial.println(measurement); digitalWrite(ledPin, LOW); return measurement; } /* end */ </pre>

 
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