« GPS Clock and display the time when posted to the post box | Main | DHT11 で計測の温度と湿度を TM1637 に表示する »

08/12/2019

Added comments to my Tank Robot sketches

Tank Robot の動き方をいろいろ調整して、ほぼ満足のゆく状況になってきた。Sketch については、前回のものに対して少し加筆修正も行ったが・・・、Sketch内の各ステートメントで、変数の意味は何で、また何の処理をしているのか、後で見直した際にも分かるように、コメントを追記した。
Img_20190808_115947

《 Sketch 》

const int PIN_SONAR_ECHO = 5; // define pin for sensor echo
const int PIN_SONAR_TRIGGER = 6; // define pin for sensor trig
#include <Servo.h>
#include <TM1637Display.h>
#define CLK 7 //can be any digital pin
#define DIO 8 //can be any digital pin
int Fdistance = 0; // Distance to the obstacle in the direction of the sensor
float Dlh; // Distance to left obstacle
float Drh; // Distance to right obstacle
float Dfr; // Distance to front obstacle
int Ls = 35 ; // short range threshold changed from 30
int Ll = 55 ; // long range threshold = 55
int angle;
int pinSRB = 9; // servo motor output pin (PWM)
int random_No4;
float multiplier = 1.35; // add variable and changed number from 1.3
int delaytime = 350; // chaged from 400
// next pins(10~13) are depended on L298P motorshield
int pinLB = 12; // direction control function
int pinLF = 10; // motors' control chip with speed control function from 10
int pinRB = 13; // direction control function
int pinRF = 11; // motors' control chip with speed control function
int FullSpeed = 255; // max 255
int HalfSpeed = 240; // when the number is less than 180 will be stopp
Servo myServo; // set myservo

TM1637Display display(CLK, DIO);
// Data setting for 7-segment display
const uint8_t Letter_F[] = { SEG_A | SEG_E | SEG_F | SEG_G }; // F
const uint8_t Letter_b[] = { SEG_C | SEG_D | SEG_E | SEG_F | SEG_G }; // b
const uint8_t Letter_H[] = { SEG_B | SEG_C | SEG_E | SEG_F | SEG_G }; // H
const uint8_t Letter_r[] = { SEG_E | SEG_G }; // r
const uint8_t Letter_L[] = { SEG_D | SEG_E | SEG_F }; // L
const uint8_t Letter_A[] = { SEG_A | SEG_B | SEG_C | SEG_E | SEG_F | SEG_G }; // A
const uint8_t Letter_c[] = { SEG_D | SEG_E | SEG_G }; // c
const uint8_t Letter_t[] = { SEG_D | SEG_E | SEG_F | SEG_G }; // t
const uint8_t Letter_LT[] = { SEG_A | SEG_F | SEG_G }; // <
const uint8_t Letter_GT[] = { SEG_A | SEG_B | SEG_G }; // >

void setup()
{
  Serial.begin(9600);
  pinMode(PIN_SONAR_TRIGGER,OUTPUT);
  pinMode(PIN_SONAR_ECHO,INPUT);
  display.setBrightness(0x0f); // 0x01 << dark -- bright >> 0x0f
  display.clear();
// Define motor output pin
  pinMode(pinLB,OUTPUT); // pin 12 direction control function
  pinMode(pinLF,OUTPUT); // pin 10 (PWM)
  pinMode(pinRB,OUTPUT); // pin 13 direction control function
  pinMode(pinRF,OUTPUT); // pin 11 (PWM)
  myServo.attach(pinSRB); // Define servo motor output pin(PWM)
}

void Advance() // move to forward
{
  display.setSegments(Letter_F,1,0); // display "go to foward"
  digitalWrite(pinLB,LOW); // left wheel moves forward
  digitalWrite(pinRB,LOW); // right wheel moves forward
  analogWrite(pinLF,FullSpeed);
  analogWrite(pinRF,FullSpeed);
}

void Back() // move backward
{
  display.clear();
  display.setSegments(Letter_b,1,1); // display "go to backward"
  display.setSegments(Letter_A,1,2);
  display.setSegments(Letter_c,1,3);
  delay(50);
  digitalWrite(pinLB,HIGH); // motor moves to left rear
  digitalWrite(pinRB,HIGH); // motor moves to right rear
  analogWrite(pinLF,FullSpeed);
  analogWrite(pinRF,FullSpeed);
}

void MidSpeed() // move to forward
{
  display.setSegments(Letter_F,1,0); // display "go to foward"
  digitalWrite(pinLB,LOW); // left wheel moves forward
  digitalWrite(pinRB,LOW); // right wheel moves forward
  analogWrite(pinLF,HalfSpeed);
  analogWrite(pinRF,HalfSpeed);
}

void Stopp() // all wheel stop
{
  display.setSegments(Letter_H,1,0); // display "Stop"
  display.setSegments(Letter_A,1,1);
  display.setSegments(Letter_L,1,2);
  display.setSegments(Letter_t,1,3);
  digitalWrite(pinLB,HIGH); // left wheel stop
  digitalWrite(pinRB,HIGH); // right wheel stop
  analogWrite(pinLF,0);
  analogWrite(pinRF,0);
}

void BackRight() // turn right
{
  display.setSegments(Letter_r,1,0); // display "back right"
  display.setSegments(Letter_b,1,1);
  display.setSegments(Letter_A,1,2);
  display.setSegments(Letter_c,1,3);
  digitalWrite(pinLB,HIGH);
  digitalWrite(pinRB, LOW); // wheel on the right moves backward
  analogWrite(pinLF,FullSpeed);
  analogWrite(pinRF,FullSpeed);
}

void BackLeft() // turn left
{
  display.setSegments(Letter_L,1,0); // display "back left"
  display.setSegments(Letter_b,1,1);
  display.setSegments(Letter_A,1,2);
  display.setSegments(Letter_c,1,3);
  digitalWrite(pinLB, LOW); // wheel on the left moves backward
  digitalWrite(pinRB,HIGH);
  analogWrite(pinLF,FullSpeed);
  analogWrite(pinRF,FullSpeed);
}

void loop()
{
  labelF:
  long random_No1 = random( 20, 120); // Generate random numbers
// --- Forward obstacle detection and moving ---
// angle = 90;
  myServo.write(90); // use fixed number(90deg)
  delay(10); // changed delay time from 50

label1:  // add a statement
  ask_pin_F(); // Fdistance

  if(Fdistance <= Ls)
  {
    Stopp(); // stop for a while
    goto label2;
  }

  if((Fdistance > Ls ) & (Fdistance <= Ll ))
  {
    MidSpeed(); // at a slightly reduced speed
    goto label1;  // changed statement from labelF
  }

  if(Fdistance > Ll )
  {
    Advance();   // at full speed
    goto label1;  // changed statement from labelF
  }

label2:
// angle = 90; // Check the distance ahead again
  myServo.write(90); // use fixed number(angle --> 90)
  delay(10); // changed delay time from 50
  ask_pin_F();

  if(Fdistance < Ls )
  {
    Back(); // go back a little
    delay(random_No1); // backward progress time
    Stopp();
  }
// Measure left and right space
  angle = 3; // check for obstacles in the right direction
  myServo.write(angle);
  delay(1000); // time to reserve for servo motor
  ask_pin_F();
  Drh=Fdistance;

  angle = 177; // check for obstacles in the left direction
  myServo.write(angle);
  delay(1000); // time to reserve for servo motor
  ask_pin_F();
  Dlh=Fdistance;

  angle = 90; // check for obstacles ahead
  myServo.write(angle);
  delay(1000); // time to reserve for servo motor
  ask_pin_F(); // check forward distance
  Dfr=Fdistance;

label3:
  if(Dlh > Drh)
  {
    display.setSegments(Letter_GT,1,0); // display ">"
    delay(350); //changed delay time from 300
// Calculate the time to change the moving direction of the tank
// "ie. delay(random_No4)" from the distance to the obstacles
// in the front and rear direction and the side direction

    float rn1 = Dlh / Dfr ;

    if( rn1 >= multiplier ) rn1 = multiplier ; // changed sketch
    random_No4 = delaytime * rn1 ;
    BackRight();
    delay(random_No4); // backward progress time
    Stopp();
    delay(400); // display time for display unit
    goto labelF;

  }
else if( Dlh <= Drh )
{
  display.setSegments(Letter_LT,1,0); // display "<"
  delay(350); //changed delay time from 300

  float rn2 = Drh / Dfr ;

  if( rn2 >= multiplier ) rn2 = multiplier ; // changed sketch
  random_No4 = delaytime * rn2 ;
  BackLeft();
  delay(random_No4); // backward progress time
  Stopp();
  delay(400); // display time for display unit
  goto labelF;

  }
}

void ask_pin_F() // Measure the distance at the specified angle
{
  digitalWrite(PIN_SONAR_TRIGGER,LOW); // Set the trigger pin to low for 2micro_S
  delayMicroseconds(2);
  digitalWrite(PIN_SONAR_TRIGGER,HIGH); // Send a 10uS high to trigger ranging
  delayMicroseconds(10);
  digitalWrite(PIN_SONAR_TRIGGER,LOW); // Send pin low again
  float distance = pulseIn(PIN_SONAR_ECHO,HIGH); // Read in times pulse
  Fdistance = distance/58; // Calculate distance from time of pulse
  delay(60);
  if(( 89 < angle) & (angle < 91))    display.setSegments(Letter_F,1,0);
  if(( 0 < angle) & (angle < 35))      display.setSegments(Letter_r,1,0);
  if(( 145 < angle) & (angle < 180)) display.setSegments(Letter_L,1,0);
  display.showNumberDec(Fdistance,true, 3, 1); // distance to front obstacle
  delay(200); // changed display time from 300
}

« GPS Clock and display the time when posted to the post box | Main | DHT11 で計測の温度と湿度を TM1637 に表示する »

Comments

Post a comment

Comments are moderated, and will not appear on this weblog until the author has approved them.

(Not displayed with comment.)

« GPS Clock and display the time when posted to the post box | Main | DHT11 で計測の温度と湿度を TM1637 に表示する »

September 2019
Sun Mon Tue Wed Thu Fri Sat
1 2 3 4 5 6 7
8 9 10 11 12 13 14
15 16 17 18 19 20 21
22 23 24 25 26 27 28
29 30          

Recent Trackbacks

無料ブログはココログ