Acrob020 - História úprav

Balogh: /* Navigating with whiskers */

2015-11-19T12:57:02Z

Navigating with whiskers

← Staršia verzia		Verzia z 12:57, 19. november 2015
Riadok 17:		Riadok 17:
	and two jumper wires. Plug the components into the bread board so it looks like the following:		and two jumper wires. Plug the components into the bread board so it looks like the following:

	~~[[Image:AcrobWhiskersElectrical.jpg]]~~

	When the robot is in an open area and the whiskers are not touching anything, the switch is open. This means that the circuit is providing the digital input pin with a high logic level.		When the robot is in an open area and the whiskers are not touching anything, the switch is open. This means that the circuit is providing the digital input pin with a high logic level.

Balogh: /* Navigating with whiskers */

2015-11-18T23:06:39Z

Navigating with whiskers

← Staršia verzia		Verzia z 23:06, 18. november 2015
Riadok 25:		Riadok 25:

	[[Obrázok:AcrobWhiskers.png]]		[[Obrázok:AcrobWhiskers.png]]

			<source lang="c">
			// Robotics with the BOE Shield - RoamingWithWhiskers
			// Go forward. Back up and turn if whiskers indicate BOE Shield bot bumped
			// into something.

			#include <Servo.h> // Include servo library

			Servo servoLeft; // Declare left and right servos
			Servo servoRight;

			void setup() // Built-in initialization block
			{
			pinMode(7, INPUT); // Set right whisker pin to input
			pinMode(5, INPUT); // Set left whisker pin to input

			tone(4, 3000, 1000); // Play tone for 1 second
			delay(1000); // Delay to finish tone

			servoLeft.attach(13); // Attach left signal to pin 13
			servoRight.attach(12); // Attach right signal to pin 12
			}

			void loop() // Main loop auto-repeats
			{
			byte wLeft = digitalRead(5); // Copy left result to wLeft
			byte wRight = digitalRead(7); // Copy right result to wRight

			if((wLeft == 0) && (wRight == 0)) // If both whiskers contact
			{
			backward(1000); // Back up 1 second
			turnLeft(800); // Turn left about 120 degrees
			}
			else if(wLeft == 0) // If only left whisker contact
			{
			backward(1000); // Back up 1 second
			turnRight(400); // Turn right about 60 degrees
			}
			else if(wRight == 0) // If only right whisker contact
			{
			backward(1000); // Back up 1 second
			turnLeft(400); // Turn left about 60 degrees
			}
			else // Otherwise, no whisker contact
			{
			forward(20); // Forward 1/50 of a second
			}
			}

			void forward(int time) // Forward function
			{
			servoLeft.writeMicroseconds(1700); // Left wheel counterclockwise
			servoRight.writeMicroseconds(1300); // Right wheel clockwise
			delay(time); // Maneuver for time ms
			}

			void turnLeft(int time) // Left turn function
			{
			servoLeft.writeMicroseconds(1300); // Left wheel clockwise
			servoRight.writeMicroseconds(1300); // Right wheel clockwise
			delay(time); // Maneuver for time ms
			}

			void turnRight(int time) // Right turn function
			{
			servoLeft.writeMicroseconds(1700); // Left wheel counterclockwise
			servoRight.writeMicroseconds(1700); // Right wheel counterclockwise
			delay(time); // Maneuver for time ms
			}

			void backward(int time) // Backward function
			{
			servoLeft.writeMicroseconds(1300); // Left wheel clockwise
			servoRight.writeMicroseconds(1700); // Right wheel counterclockwise
			delay(time); // Maneuver for time ms
			}
			</source>

Balogh na 23:04, 18. november 2015

2015-11-18T23:04:22Z

@@ Riadok 1: / Riadok 1: @@
 [[Image:AcrobWhiskersComponents.jpg]]
 [[Image:AcrobWhiskersMechanical.jpg]]
 [[Image:AcrobWhiskersElectrical.jpg]]
 [[Obrázok:AcrobWhiskers.png]]

Balogh na 22:59, 18. november 2015

2015-11-18T22:59:47Z

← Staršia verzia		Verzia z 22:59, 18. november 2015
Riadok 1:		Riadok 1:
			[[Image:AcrobWhiskersComponents.jpg]]

			[[Image:AcrobWhiskersMechanical.jpg]]

			[[Image:AcrobWhiskersElectrical.jpg]]

	[[Obrázok:AcrobWhiskers.png]]		[[Obrázok:AcrobWhiskers.png]]

Balogh: Nová stránka: Obrázok:AcrobWhiskers.png

2010-06-26T21:13:36Z

Nová stránka: Obrázok:AcrobWhiskers.png

Nová stránka

[[Obrázok:AcrobWhiskers.png]]