Tutorial robot AVOIDER, cara membuat robot avoider

TUTORIAL ROBOT AVOIDER

Disini saya akan membagi ilmu dengan tutorial robot AVOIDER dan semoga bermanfaat bagi pembaca.

Alat dan Bahan yang di butuhkan:
1.1x Arduino Ini
2.1x Motor Driver L298N
4.4x Motor DC (untuk roda)
5.1x Sensor Ultrasonik
6.1x Bat +9v untuk Motor Driver
7.1x Bat +9v untuk Arduino
8.Kabel jumper secukupnya.

Rangkain:

Keterangan Konfigurasi Kabel:
1.Hubungkan pin Vcc Ultrasonic ke pin +5v Arduino.
2.Hubungkan PIN  Echo Ultrasonic ke PIN 3 Arduino.
3.Hubungkan PIN Trigger Ultrasonic ke PIN 2 Arduino.
4.Hubungkan PIN ground Ultrasonic ke PIN ground Arduino.
5.Hubungkan PIN IN1 L298N ke PIN 7 Arduino.
6.Hubungkan PIN IN2 L298N ke PIN 6 Arduino.
7.Hubungkan PIN IN3 L298N ke PIN 5 Arduino.
8.Hubungkan PIN IN4 L298N ke PIN 4 Arduino.
9.Hubungkan +12v motor driver L298N ke PIN +9 BAT.
10.Hubungkan ground motor driver L298N ke BAT dan ke PIN ground Arduino.



Source code:

#include <NewPing.h>

#define TRIGGER_PIN  2  // Arduino pin tied to trigger pin on ping censor(CENTER censor)

#define ECHO_PIN     3 // Arduino pin tied to echo pin on ping censor(CENTER censor)

#define MAX_DISTANCE 200

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

unsigned int pingSpeed = 50;

unsigned long pingTimer;     // Holds the next ping time.

int distance;

int distanceL;

int distanceR;

//MotorSetting; Using DFRobot L298 2A Motor Controller

int M1 = 4;

int E1 = 5;

int M2 = 7;

int E2 = 6;

int pwm_speed;

int speedVal = 255;

//char command = '\0';

void setup() {

  Serial.begin(9600); // Open serial monitor at 9600 baud to see ping results.

  pinMode(M1, OUTPUT);

  pinMode(M2, OUTPUT);

  pinMode(10, OUTPUT);

  delay(250);

}

void loop() {

      distance  = sonar.ping_cm();

      Serial.println(distance);

      if (distance > 25){

        Drive("Forward");

        Serial.println("maju");

      }

      else if (distance < 25 && distance > 10)

      {

          Drive("TurnRight");

          delay(250);

          Drive("Stop");

          distanceR = sonar.ping_cm();

          Drive("TurnLeft");

          delay (250);

          Drive ("Stop");

          distanceL = sonar.ping_cm();

            if (distanceR > distanceL) {

              Drive ("TurnRight");

              Serial.println("kanan");

              delay (250);

              Drive ("Forward");

             

            }

            else {

              Drive ("TurnLeft");

              Serial.println("kiri");

              delay (250);

              Drive ("Forward");

            }

     }

     else {

        Drive ("Backward");

        Serial.println("mundur");

        delay (100);

        Drive ("Stop");

     }

}

//Mechatronic and Robotic//

//Electrical Engineering//

//Malikussaleh of University//

/////////////////Directions Setup/////////////////////////

void Drive(String Direction) {

  if (Direction == "Backward") {

    // Serial.println("Backward");

    analogWrite(E1, 255);

    analogWrite(E2, 255);

    digitalWrite(M1, LOW);

    digitalWrite(M2, LOW);

  }

  if (Direction == "Forward") {

    // Serial.print("Forward");

    analogWrite(E1, 255);

    analogWrite(E2, 255);

    digitalWrite(M1, HIGH);

    digitalWrite(M2, HIGH);

   

  }

  if (Direction == "Stop") {

    //Serial.print("Stop");

    analogWrite(E1, 0);

    analogWrite(E2, 0);

  }

  if (Direction == "TurnRight") {

    //Serial.print("Turning Right");

    analogWrite(E1, 255);

    analogWrite(E2, 255);

    digitalWrite(M1, LOW);

    digitalWrite(M2, HIGH);

  }

  if (Direction == "TurnLeft") {

    // Serial.print("Turning Left");

    analogWrite(E1, 255);

    analogWrite(E2, 255);

    digitalWrite(M1, HIGH);

    digitalWrite(M2, LOW);

  }

}

void test_speed() {

  // constrain speed value to between 0-255

  if (speedVal > 250) {

    speedVal = 255;

    Serial.println(" MAX ");

  }

  if (speedVal < 0) {

    speedVal = 0;

    Serial.println(" MIN ");

  }

}

//--------------------------------------

/*

long microsecondsToCentimeters(long microseconds) {

  // The speed of sound is 340 m/s or 29 microseconds per centimeter.

  // The ping travels out and back, so to find the distance of the

  // object we take half of the distance travelled.

  //return microseconds / 29 / 2;

  return microseconds / 10; //basically 58

}*/

/////////////////////////////////////////////////////////////////////////

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