Transcript Arduino1old

ARDUINO 1
Basics
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Comments
 /*
* Blink * * The basic Arduino example. Turns on an
LED on for one second, * then off for one second, and
so on... We use pin 13 because, * depending on your
Arduino board, it has either a built-in LED * or a built-in
resistor so that you need only an LED. * *
http://www.arduino.cc/en/Tutorial/Blink */
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LED connected to digital pin 13
Basics
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setup() and loop()
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are two special functions that are a part of every
Arduino sketch: setup() and loop(). The setup() is called
once, when the sketch starts. It's a good place to do
setup tasks like setting pin modes or initializing
libraries. The loop() function is called over and over
and is heart of most sketches. You need to include both
functions in your sketch, even if you don't need them for
anything.
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The pinMode() function configures a pin as either an input or an output. To
use it, you pass it the number of the pin to configure and the constant INPUT
or OUTPUT. When configured as an input, a pin can detect the state of a
sensor like a pushbutton. As an output, it can drive an actuator like an LED.
The digitalWrite() functions outputs a value on a pin. For example, the line:
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digitalWrite(ledPin, HIGH);
set the ledPin (pin 13) to HIGH, or 5 volts. Writing a LOW to pin connects it
to ground, or 0 volts.
The delay() causes the Arduino to wait for the specified number of
milliseconds before continuing on to the next line. There are 1000
milliseconds in a second, so the line:
delay(1000);
creates a delay of one second.
Traffic Light Control
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Int ledRed = 13;
int ledGreen = 11;
int ledYellow = 12;
void setup()
{
pinMode(ledRed, OUTPUT);
// sets the digital pin as output
pinMode(ledYellow, OUTPUT);
// sets the digital pin as output
pinMode(ledGreen, OUTPUT);
// sets the digital pin as output
}
void loop()
{
digitalWrite(ledGreen, HIGH); // sets the Green LED on
delay(1000);
// waits for a second
digitalWrite(ledGreen, LOW); // sets the Green LED off
digitalWrite(ledYellow,HIGH); // sets the Yellow LED on
delay(1000);
// waits for a second
digitalWrite(ledYellow, LOW); // sets the Yellow LED off
digitalWrite(ledRed, HIGH); // sets the Red LED on
delay(1000);
// waits for a second
digitalWrite(ledRed, LOW); // sets the Reed LED off
}
http://www.robotroom.com/HBridge.html
Ground
Components: TC4421/TC4422
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In the graphic, the green lines
represent a regular time period.
This duration or period is the
inverse of the PWM frequency.
In other words, with Arduino's
PWM frequency at about
500Hz, the green lines would
measure 2 milliseconds each. A
call to analogWrite() is on a
scale of 0 - 255, such that
analogWrite(255) requests a
100% duty cycle (always on),
and analogWrite(127) is a
50% duty cycle (on half the
time) for example.
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analogWrite(pin, value)
int right = 13;
int left = 12;
int forward = 11;
int reverse = 10;
// Turn Right
// Turn Left
// Move forward
// Move backward
void setup()
{
pinMode(right, OUTPUT);
pinMode(left, OUTPUT);
}
// sets the digital pin as output
// sets the digital pin as output
void loop()
{
digitalWrite(left, LOW);
digitalWrite(right, HIGH); // Turn Right
analogWrite(reverse, 0);
delay(500);
analogWrite(forward, 200); // Move forward
delay(1000);
// waits for a second
digitalWrite(right, LOW);
digitalWrite(left, HIGH); // Turn left
analogWrite(forward, 0);
delay(500);
analogWrite(reverse, 120); // Move backward
delay(1000);
// waits for a second
}
distance = 32/voltage
Good for voltage < 2.6 V,
distance > 10 cm
Voltage measurement
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int analogRead(pin)
Description
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Reads the value from the specified analog pin. The Arduino board
contains a 6 channel (8 channels on the Mini and Nano), 10-bit
analog to digital converter. This means that it will map input voltages
between 0 and 5 volts into integer values between 0 and 1023. This
yields a resolution between readings of: 5 volts / 1024 units or,
.0049 volts (4.9 mV) per unit. It takes about 100 us (0.0001 s) to
read an analog input, so the maximum reading rate is about 10,000
times a second.
Setting the baud rate
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Serial.begin(int speed)
Description
 Sets
the data rate in bits per second (baud) for serial
data transmission. For communicating with the computer,
use one of these rates: 300, 1200, 2400, 4800, 9600,
14400, 19200, 28800, 38400, 57600, or 115200.
You can, however, specify other rates - for example, to
communicate over pins 0 and 1 with a component that
requires a particular baud rate.
Sending data to computer
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Serial.println(data)
Description
 Prints
a data to the serial port, followed by a carriage
return character(ASCII 13, or '\r') and a newline
character (ASCII 10, or '\n'). This command takes the
same forms as Serial.print():
Sending data to computer
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Serial.println(b) prints b as a decimal number in an ASCII string followed by a
carriage return and a linefeed.
Serial.println(b, DEC) prints b as a decimal number in an ASCII string followed by a
carriage return and a linefeed.
Serial.println(b, HEX) prints b as a hexadecimal number in an ASCII string followed
by a carriage return and a linefeed.
Serial.println(b, OCT) prints b as an octal number in an ASCII string followed by a
carriage return and a linefeed.
Serial.println(b, BIN) prints b as a binary number in an ASCII string followed by a
carriage return and a linefeed.
Serial.print(b, BYTE) prints b as a single byte followed by a carriage return and a
linefeed.
Serial.println(str) if str is a string or an array of chars, prints str an ASCII string.
Serial.println() just prints a carriage return and a linefeed.
Distance Meassurement (Returns # 0 –
1023)
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unsigned int voltage1, distance1;
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int sensor1 = 0;
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void setup()
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{
Serial.begin(9600);
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}
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void loop()
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{
// setup serial
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voltage1 = analogRead(sensor1);
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Serial.println(voltage1);
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delay(1000);
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}
// debug value
Car will stop before hitting obstacle
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int sensor1 = 0;
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int forward = 11;
// Move forward
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int reverse = 10;
// Move backward
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int stop_f = 286;
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unsigned int voltage1 = 0;
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void setup()
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{
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analogWrite(forward, 0);
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analogWrite(reverse, 0);
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}
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void loop()
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{
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Serial.println(voltage1);
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while(voltage1 < stop_f)
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{
// debug value
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voltage1 = analogRead(sensor1);
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analogWrite(forward, 150); // Move forward
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}
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analogWrite(forward, 0); // Stop
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voltage1 = analogRead(sensor1);
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}
CONTROL SYSTEM
Car will maintain distance from obstacle
int sensor1 = 0;
int forward = 11;
// Move forward
int reverse = 10;
// Move backward
int stop_f = 286;
// Distance 1
int stop_b = 310;
// Distance 2
unsigned int voltage1 = 0;
void setup()
{
analogWrite(forward, 0);
analogWrite(reverse, 0);
}
void loop()
{
Serial.println(voltage1);
// debug value
while(voltage1 < stop_f)
{
voltage1 = analogRead(sensor1);
analogWrite(forward, 170); // Move forward
}
analogWrite(forward, 0); // Stop
voltage1 = analogRead(sensor1);
while(voltage1 > stop_b)
{
voltage1 = analogRead(sensor1);
analogWrite(reverse, 170); // Move backwards
}
analogWrite(reverse, 0); // Stop
}
Distance1= 32/(286*5/1024)=23cm
Distance2= 32/(310*5/1024)=21cm