Kodlayarak Üretiyoruz Proje Araba Yapımızı e-Kitabımız

ARABA YAPIMINDA KULLANILACAK MALZEMELER

Gerekli malzemeler:

• Arduino UNO
• Çok Amaçlı Robot Platformu
• L298N Voltaj Regülatörlü Çift Motor Sürücü Kartı
• HC06 Bluetooth Modülü
• Pil
• Jumper Kablo

ENGELDEN KAÇAN ARABANIN KODLARI

#define echoPin 12

#define trigPin 13

#define MotorR1 7

#define MotorR2 6

#define MotorRE 9

#define MotorL1 5

#define MotorL2 4

#define MotorLE 3

long sure, uzaklik;

void setup() {

pinMode(echoPin, INPUT);

pinMode(trigPin, OUTPUT);

pinMode(MotorL1, OUTPUT);

pinMode(MotorL2, OUTPUT);

pinMode(MotorLE, OUTPUT);

pinMode(MotorR1, OUTPUT);

pinMode(MotorR2, OUTPUT);

pinMode(MotorRE, OUTPUT);

Serial.begin(9600);

}

void loop() {

digitalWrite(trigPin, LOW);

delayMicroseconds(5);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

sure = pulseIn(echoPin, HIGH);

uzaklik = sure / 29.1 / 2;

Serial.println(uzaklik);

if (uzaklik < 15)

{

geri();

delay(150);

sag();

delay(250);

}

else {

ileri();

}

}

void ileri(){

digitalWrite(MotorR1, HIGH);

digitalWrite(MotorR2, LOW);

analogWrite(MotorRE, 150);

digitalWrite(MotorL1, HIGH);

digitalWrite(MotorL2, LOW);

analogWrite(MotorLE, 150);

}

void sag(){

digitalWrite(MotorR1, HIGH);

digitalWrite(MotorR2, LOW);

analogWrite(MotorRE, 0);

digitalWrite(MotorL1, HIGH);

digitalWrite(MotorL2, LOW);

analogWrite(MotorLE, 150);

}

void geri(){

digitalWrite(MotorR1, LOW);

digitalWrite(MotorR2, HIGH);

analogWrite(MotorRE, 150);

digitalWrite(MotorL1, LOW);

digitalWrite(MotorL2, HIGH);

analogWrite(MotorLE, 150);

}

BLUETOOTH  İLE KONTROL EDİLEN ARABANIN KODLARI

const int motorA1  = 5;

const int motorA2  = 6;

 const int motorB1  = 10;

const int motorB2  = 9;

int i=0;   int j=0;

int state;

int vSpeed=255;

void setup() {

pinMode(motorA1, OUTPUT);

pinMode(motorA2, OUTPUT);

pinMode(motorB1, OUTPUT);

pinMode(motorB2, OUTPUT);

Serial.begin(9600);}

void loop() {

if(digitalRead(BTState)==LOW) { state='S'; }

if(Serial.available() > 0){

state = Serial.read();       }

if (state == '0'){

vSpeed=0;}

else if (state == '1'){

vSpeed=100;}

else if (state == '2'){

 vSpeed=180;}

else if (state == '3'){

vSpeed=200;}

else if (state == '4'){

vSpeed=255;}

if (state == 'F') {

analogWrite(motorA1, vSpeed);

analogWrite(motorA2, 0);

analogWrite(motorB1, vSpeed);

analogWrite(motorB2, 0);     }

 else if (state == 'G') {

analogWrite(motorA1,vSpeed );

analogWrite(motorA2, 0);

analogWrite(motorB1, 100);

analogWrite(motorB2, 0);     }

 else if (state == 'I') {

 analogWrite(motorA1, 100);

analogWrite(motorA2, 0);

analogWrite(motorB1, vSpeed);

analogWrite(motorB2, 0);     }

else if (state == 'B') {

analogWrite(motorA1, 0);

analogWrite(motorA2, vSpeed);

analogWrite(motorB1, 0);

analogWrite(motorB2, vSpeed);     }

else if (state == 'H') {

 analogWrite(motorA1, 0);

analogWrite(motorB2, vSpeed);     }

else if (state == 'H') {

 analogWrite(motorA1, 0);

analogWrite(motorA2, 100);

 analogWrite(motorB1, 0);

analogWrite(motorB2, vSpeed);     }

else if (state == 'J') {

analogWrite(motorA1, 0);

analogWrite(motorA2, vSpeed);

analogWrite(motorB1, 0);

analogWrite(motorB2, 100);     }

else if (state == 'L') {

analogWrite(motorA1, vSpeed);

analogWrite(motorA2, 150);

analogWrite(motorB1, 0);

analogWrite(motorB2, 0);     }

 else if (state == 'R') {

analogWrite(motorA1, 0);

analogWrite(motorA2, 0);

analogWrite(motorB1, vSpeed);

analogWrite(motorB2, 150);         }

 else if (state == 'S'){

analogWrite(motorA1, 0);

analogWrite(motorA2, 0);

analogWrite(motorB1, 0);

analogWrite(motorB2, 0);    }  }

ÇİZGİ İZLEYEN ROBOT KODLARI

#define SensorSol 10

#define SensorOrta 11

#define SensorSag 12

void setup() {

  pinMode(SensorSol, INPUT);

  pinMode(SensorOrta, INPUT);

  pinMode(SensorSag, INPUT);

  Serial.begin(9600);

  Serial.println("Cizgi Sensoru Testi");

  delay(2000);

}

void loop() {

  Serial.print(digitalRead(SensorSol));

  Serial.print(",");

  Serial.print(digitalRead(SensorOrta));

  Serial.print(",");

  Serial.println(digitalRead(SensorOrta));

  delay(100);

}

Sensörlerimizin siyah görüğünde “1” çıkış değerini aldığında oluşan mantık tablodaki gibidir.

Bu mantığa göre programlamaya başlıyoruz.

#define SensorSol 10

#define SensorOrta 11

#define SensorSag 12

#define MotorR1 6

#define MotorR2 7

#define MotorRE 9

#define MotorL1 5

#define MotorL2 4

#define MotorLE 3

void setup() {

  pinMode(SensorSol, INPUT);

  pinMode(SensorOrta, INPUT);

  pinMode(SensorSag, INPUT);

  pinMode(MotorR1, OUTPUT);

  pinMode(MotorR2, OUTPUT);

  pinMode(MotorL1, OUTPUT);

  pinMode(MotorL2, OUTPUT);

}

void loop() {

  if(digitalRead(SensorSol) == 0 && digitalRead(SensorOrta) == 1 && digitalRead(SensorSag) == 0){

    ileri();

  }

  if(digitalRead(SensorSol) == 0 && digitalRead(SensorOrta) == 0 && digitalRead(SensorSag) == 1){

    sag();

  }

  if(digitalRead(SensorSol) == 1 && digitalRead(SensorOrta) == 0 && digitalRead(SensorSag) == 0){

    sol();

  }

}

void ileri(){

  digitalWrite(MotorR1, HIGH);

  digitalWrite(MotorR2, LOW);

  analogWrite(MotorRE, 150);

  digitalWrite(MotorL1, HIGH);

  digitalWrite(MotorL2, LOW);

  analogWrite(MotorLE, 150);

}

void sag(){

  digitalWrite(MotorR1, HIGH);

  digitalWrite(MotorR2, LOW);

  analogWrite(MotorRE, 0);

  digitalWrite(MotorL1, HIGH);

  digitalWrite(MotorL2, LOW);

  analogWrite(MotorLE, 150);

}

void sol(){

  digitalWrite(MotorR1, HIGH);

  digitalWrite(MotorR2, LOW);

  analogWrite(MotorRE, 150);

  digitalWrite(MotorL1, HIGH);

  digitalWrite(MotorL2, LOW);

  analogWrite(MotorLE, 0);

}

void dur(){

  digitalWrite(MotorR1, HIGH);

  digitalWrite(MotorR2, LOW);

  digitalWrite(MotorRE, LOW);

  digitalWrite(MotorL1, HIGH);

  digitalWrite(MotorL2, LOW);

  digitalWrite(MotorLE, LOW);

}