arduino

smartcar

2013 6 16


1 ...........................................................................................................1
1.1 ..................................................................................................1
1.2 ..................................................................................................1
1.3 ..................................................................................................2
2 ...........................................................................................................3
2.1 ............................................................................................3
2.2 .............................................................................................10
4 .........................................................................................................14

1
1.1

2 Zigbee
ARM

1.2
robotrobota1920

Robot

, 3

1959

(20 70 )

(20 80 )

60
SRI Nits Nilssen Charles Rosen 1966 1972
Shake
20 80
AMRIndoor Autonomous Mobile Robot
DARPA
DARPA
ALV19831990 10
RIPS19861995

80


1994

THMR111

AGV
1996

1.3
1994 (Dante),

,,
,
,(AMR)
,,

1
1.1

2.1
Arduino


1Arduino UNO

4
L298N

5 + + + + + +
PVC
android

#defineDEBUG

//

set

to

to

print

to

serial

monitor,

to

#include

<Servo.h>

Servo

//
const
const

disable

//

headservo;

int
int

EchoPin

2;

TrigPin

3;

constintleftmotorpin1
const
int
constintrightmotorpin1
constintrightmotorpin2

//

4;

//

//

Constants

leftmotorpin2

=
=
=

5;
6;
7;

constintHeadServopin = 9; //
Sharppin
=
const
int
11;
//

9 10

constintmaxStart

//run

//
int
int

800;

isStart

maxStart;

currDist

0;

boolean

dec

//

Variables

false;

//

running

time

voidsetup()

Serial.begin(9600);

//

//

pinMode(EchoPin,

INPUT);

pinMode(Sharppin,

//
for(int

INPUT);

pinindex

pinMode(pinindex,

3;

OUTPUT);

pinindex

//

set

<

pins

11;
3
to

pinindex++)

10

as

outputs
}

//

headservo.attach(HeadServopin);

//

headservo.write(70);
delay(2000);
headservo.write(20);
delay(2000);
}

voidloop()

if(DEBUG){
Serial.print("running:");

if(running){
Serial.println("true");
}

else{
Serial.println("false");
}
}

if(isStart
if(running){

0)

<=

//

totalhalt();

stop!
}

intfindsomebody
if(DEBUG){
Serial.print("findsomebody:");

digitalRead(Sharppin);

Serial.println(findsomebody);
}

if(findsomebody
isStart

0)

>
=

{
maxStart;

}
delay(4000);

return;
}
isStart--;
delay(100);

if(DEBUG){
Serial.print("isStart:

");

Serial.println(isStart);
}

currDist

//

MeasuringDistance();

if(DEBUG){
Serial.print("Current

Distance:

");

Serial.println(currDist);
}

if(currDist

30)

>

nodanger();
}

elseif(currDist

15){

<

backup();
randTrun();
}

else{
//whichway();
randTrun();
}
}

//

MeasuringDistance()
long
longduration;
//pinMode(TrigPin,

OUTPUT);

digitalWrite(TrigPin,

LOW);

delayMicroseconds(2);
digitalWrite(TrigPin,

HIGH);

delayMicroseconds(5);
digitalWrite(TrigPin,

LOW);

//pinMode(EchoPin,
duration

INPUT);
=

returnduration

pulseIn(EchoPin,

29

HIGH);
/

2;

//
voidnodanger()

running

true;

digitalWrite(leftmotorpin1,

LOW);

digitalWrite(leftmotorpin2,

HIGH);

digitalWrite(rightmotorpin1,

LOW);

digitalWrite(rightmotorpin2,

HIGH);
6

return;
}

//
voidbackup()

running

true;

digitalWrite(leftmotorpin1,

HIGH);

digitalWrite(leftmotorpin2,

LOW);

digitalWrite(rightmotorpin1,

HIGH);

digitalWrite(rightmotorpin2,

LOW);

delay(1000);
}

//
voidwhichway()

running

true;
stop!

//

totalhalt();

first

headservo.write(20);
delay(1000);

intlDist

//

headservo.write(120);

intrDist

//

MeasuringDistance();

totalhalt();

//

//

if(lDist

turn

left

the

distance

right
delay(1000);
check
right
distance

//

MeasuringDistance();

totalhalt();

check

<

servo

rDist)

body_lturn();
}

else{
body_rturn();
}

return;
}

//

voidtotalhalt()

digitalWrite(leftmotorpin1,

HIGH);

digitalWrite(leftmotorpin2,

HIGH);

digitalWrite(rightmotorpin1,

HIGH);

digitalWrite(rightmotorpin2,

HIGH);

headservo.write(70);

//

set

servo
7

to

face

forward

running

false;

return;
delay(1000);
}

//
voidbody_lturn()

running

true;

digitalWrite(leftmotorpin1,

LOW);

digitalWrite(leftmotorpin2,

HIGH);

digitalWrite(rightmotorpin1,

HIGH);

digitalWrite(rightmotorpin2,

LOW);

delay(1500);
totalhalt();
}

//
voidbody_rturn()

running

true;

digitalWrite(leftmotorpin1,

HIGH);

digitalWrite(leftmotorpin2,

LOW);

digitalWrite(rightmotorpin1,

LOW);

digitalWrite(rightmotorpin2,

HIGH);

delay(1500);
totalhalt();
}

voidrandTrun(){
longrandNumber;
randomSeed(analogRead(0));
randNumber

if(randNumber

=
>

random(0,

10);

5)

body_rturn();
}

else
{
body_lturn();
}
}

2.2
Arduino SEGWAY
Arduino


1 L3G4200D
2 ADXL345
3Arduino
4L298N
5

= -
PID PWM

PID arduino PID libraries :

http://arduino.cc/playground/Code/PIDLibrary

PID::PID(double*

doubleKp,

Input,

double

Ki,

double*
double

Output,
Kd,

int

double*

Setpoint,

ControllerDirection)

{
PID::SetOutputLimits(0,

//the

255);

//default
arduino
10

output

limit
pwm

corresponds

to
limits

SampleTime

100;

//default

Controller

Sample

Time

is

0.1

seconds

PID::SetControllerDirection(ControllerDirection);
PID::SetTunings(Kp,
lastTime

Ki,
=

Kd);
millis()-SampleTime;

inAuto

false;

myOutput

Output;

myInput

Input;

mySetpoint

Setpoint;

PID LIB
Input ()
Output PID PWM
Setpoint
KpKiKd KPI

Steady-state error
I

System with Steady-state Error

+(PI)
D

(delay)

+
+(PD)

PID

PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT); //PID

11

//PID

setupPID();

....
Kalman_Filter(Adxl_angle,

//

Gyro_sensor);

Input

//PID
//

myPID.Compute();
Drive(Output);

angle
angle;

Output

Output

voidsetupPID(){
Input
Setpoint

=
=

17;

//

//
//myPID.SetOutputLimits(0,

myPID.SetSampleTime(100);

0;
17

100ms

2000);
myPID.SetMode(AUTOMATIC);

1220 PID
kp,ki,kd

4
[1] www.arduino.cc

12