ARDUİNO İLE ENGELDEN KAÇAN ROBOT YAPIMI 20.05.2019

ARDUİNO İLE ENGELLERDEN KAÇAN ROBOTUN YAPIMI

GEREKLİ MALZEMELER

• Arduino Uno
• Çok amaçlı arduino platformu
• L298N Voltaj regulatörlü çift motor sürücü kartı
• HC-SR04 Ultrasonik mesafe sensörü
• Pil
• 6'lı Pil yuvası
• Jumber

ENGELDEN KAÇAN ROBOT DEVRESİ

KOD :

#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 , HIGH) ;

digitalWrite(MotorR2 , LOW) ;

analogWrite(MotorRE , 150) ;

digitalWrite(MotorL1 , HIGH) ;

digitalWrite(MotorL2 , LOW) ;

analogWrite(MotorLE , 150) ;

}