Arduino gebaseerd Robotic Car(wireless controls+Autonomous) (11 / 13 stap)

Stap 11: Programma/Sketch

#include
#include

LiquidCrystal LCD(10,9,5,4,3,2);

int i;

char j;

int redled = 0;

int blueled = 1;

int trigPin = 12;

int echoPin = 13;

int left1motor = 6;

int left2motor = 7;

int right1motor = 8;

int right2motor = 11;

float pingTime;

float targetDistance;

VOID Setup {}

Serial.begin(9600);

pinMode (trigPin, OUTPUT);

pinMode (echoPin, INPUT);

pinMode (left1motor, OUTPUT);

pinMode (left2motor, OUTPUT);

pinMode (right1motor, OUTPUT);

pinMode (right2motor, OUTPUT);

pinMode (redled, OUTPUT);

pinMode (blueled, OUTPUT);

LCD.begin(16,2);

LCD_start();

terwijl (!. Serial.available());

j=Serial.Read();

}

void loop {}

Als (j == 'a' || j == 'A')

{j = 'Z';

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

char [displayitem1] = {'A', 'U','T ', 'O,' ben ', 'A','T ', 'I', 'C', '','C ','T ', 'R', 'L'};

char [displayitem2] = {'A', 'C','T ', 'I', 'V', 'A','T ', 'E','D '};

voor (ik = 0; ik < 14; i ++)

{

LCD.setCursor(i,0);

LCD.print(displayitem1[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 9; i ++)

{

LCD.setCursor(i,1);

LCD.print(displayitem2[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(500);

LCD.setCursor(9,1);

LCD.print("");

delay(500);

LCD.setCursor(9,1);

LCD.print("_");

}

Automatic();

}

anders als (j == ben ' || j == ben ')

{

j = 'Z';

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

char [displayitem3] = {ben ', "A'," n ", 'U', 'A', 'L', '',' C',"O', "n",'T ', 'R', 'O', 'L'};

char [displayitem4] = {'A', 'C','T ', 'I', 'V', 'A','T ', 'E','D '};

voor (ik = 0; ik < 14; i ++)

{

LCD.setCursor(i,0);

LCD.print(displayitem3[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 9; i ++)

{

LCD.setCursor(i,1);

LCD.print(displayitem4[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(500);

LCD.setCursor(9,1);

LCD.print("");

delay(500);

LCD.setCursor(9,1);

LCD.print("_");

}

Manual();

}

anders

{

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

char [displayitem5] = {'W', 'A', 'Ik','T ', 'I', "n", 'G', '',' ', 'F', 'O', 'R'};

char [displayitem6] = {'I', "n", de ','T ', 'R', 'U', 'C','T ', 'I', 'O','N'};

voor (ik = 0; ik < 12; i ++)

{

LCD.setCursor(i,0);

LCD.print(displayitem5[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 11; i ++)

{

LCD.setCursor(i,1);

LCD.print(displayitem6[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(500);

LCD.setCursor(11,1);

LCD.print("");

delay(500);

LCD.setCursor(11,1);

LCD.print("_");

}

}

terwijl (!. Serial.available());

j=Serial.Read();

}

VOID manual()

{

char com;

terwijl (!. Serial.available());

g:

com=Serial.Read();

Als (com == 'w' || com == 'W')

{

terwijl (!. Serial.available())

{

digitalWrite (left1motor, hoge);

digitalWrite (left2motor, laag);

digitalWrite (right1motor, hoge);

digitalWrite (right2motor, laag);

LCD_normal();

Serial.println("Forward");

}

}

anders als (com == de ' || com == de ')

{

terwijl (!. Serial.available())

{

digitalWrite (left1motor, laag);

digitalWrite (left2motor, hoge);

digitalWrite (right1motor, laag);

digitalWrite (right2motor, hoge);

LCD_normal();

Serial.println("BACKWARD");

}

}

anders als (com == 'a' || com == 'A')

{

terwijl (!. Serial.available())

{

digitalWrite (left1motor, laag);

digitalWrite (left2motor, hoge);

digitalWrite (right1motor, hoge);

digitalWrite (right2motor, laag);

LCD_obstacle();

Serial.println ("LINKSAF");

}

}

anders als (com == had'|| com == had')

{

terwijl (!. Serial.available())

{

digitalWrite (left1motor, hoge);

digitalWrite (left2motor, laag);

digitalWrite (right1motor, laag);

digitalWrite (right2motor, hoge);

LCD_obstacle();

Serial.println ("RECHTSAF");

}

}

Als (com == 'a' || com == 'A' || com == de ' || com == de ' || com == 'A' || com == 'a' || com == had'|| com == had')

goto g;

anders als (com == 'e' || com == "E")

{

digitalWrite (left1motor, laag);

digitalWrite (left2motor, laag);

digitalWrite (right1motor, laag);

digitalWrite (right2motor, laag);

LCD_final();

Serial.println("STOPPED");

}

}

VOID automatic()

{

g:

terwijl (!. Serial.available())

{

digitalWrite (trigPin, laag);

delayMicroseconds(2);

digitalWrite (trigPin, hoge);

delayMicroseconds(10);

digitalWrite (trigPin, laag);

pingTime = pulseIn (echoPin, hoge);

pingTime = pingTime/29;

targetDistance = pingTime/2;

Serial.Print ("de afstand tot doelstelling is:");

Serial.Print(targetDistance);

Serial.println ("cm");

delay(10);

if(targetDistance==0.0)

{

digitalWrite (left1motor, hoge);

digitalWrite (left2motor, laag);

digitalWrite (right1motor, hoge);

digitalWrite (right2motor, laag);

LCD_normal();

Serial.println("Forward");

}

anders if(targetDistance>30.0)

{

digitalWrite (left1motor, hoge);

digitalWrite (left2motor, laag);

digitalWrite (right1motor, hoge);

digitalWrite (right2motor, laag);

LCD_normal();

Serial.println("Forward");

}

anders if(targetDistance<10.0)

{

digitalWrite (left1motor, laag);

digitalWrite (left2motor, hoge);

digitalWrite (right1motor, laag);

digitalWrite (right2motor, hoge);

LCD_normal();

Serial.println("BACKWARD");

}

anders if(targetDistance<30.0)

{

digitalWrite (left1motor, laag);

digitalWrite (left2motor, hoge);

digitalWrite (right1motor, hoge);

digitalWrite (right2motor, laag);

LCD_obstacle();

Serial.println ("LINKSAF");

}

}

int com=Serial.read();

Als (com! = 'e' || com! = "E")

goto g;

}

VOID LCD_start()

{

int i;

LCD.setCursor(0,0);

LCD.print ("* Welkom SIR *");

delay(1000);

LCD.setCursor(0,1);

LCD.print ("PROJECT: ABRC");

delay(2000);

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

char [displayitem7] = {'C', 'H', 'E', 'C', 'K', 'I', "n", 'G',' ', ben ', 'O','T ', 'O', 'R', de '};

char [displayitem8] = {'C', 'O,' ben ', 'P', 'L', 'E','T ', 'E','D '};

voor (ik = 0; ik < 15; i ++)

{

LCD.setCursor(i,0);

LCD.print(displayitem7[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(200);

LCD.setCursor(15,0);

LCD.print("_");

delay(200);

LCD.setCursor(15,0);

LCD.print("");

}

voor (ik = 0; ik < 9; i ++)

{

LCD.setCursor(i,1);

LCD.print(displayitem8[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(500);

LCD.setCursor(9,1);

LCD.print("");

delay(500);

LCD.setCursor(9,1);

LCD.print("_");

}

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

char [displayitem9] = {'B', 'A', de ', 'E', 'C', 'O','D ', 'E'};

char [displayitem10] = {'U', 'P','D ', 'A','T ', 'E','D '};

voor (ik = 0; ik < 8; i ++)

{

LCD.setCursor(i,0);

LCD.print(displayitem9[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(200);

LCD.setCursor(8,0);

LCD.print("_");

delay(200);

LCD.setCursor(8,0);

LCD.print("");

}

voor (ik = 0; ik < 7; i ++)

{

LCD.setCursor(i,1);

LCD.print(displayitem10[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(500);

LCD.setCursor(7,1);

LCD.print("");

delay(500);

LCD.setCursor(7,1);

LCD.print("_");

}

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

char [displayitem11] = {'I', "n",'T ', 'I', 'A', 'L', 'I', de ', 'I', "n", 'G'};

char [displayitem12] = {de ', 'E', 'Q', 'U', 'E', "n", "C", "E"};

voor (ik = 0; ik < 11; i ++)

{

LCD.setCursor(i,0);

LCD.print(displayitem11[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 8; i ++)

{

LCD.setCursor(i,1);

LCD.print(displayitem12[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(500);

LCD.setCursor(8,1);

LCD.print("");

delay(500);

LCD.setCursor(8,1);

LCD.print("_");

}

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

char [displayitem5] = {'W', 'A', 'Ik','T ', 'I', "n", 'G', '',' ', 'F', 'O', 'R'};

char [displayitem6] = {'I', "n", de ','T ', 'R', 'U', 'C','T ', 'I', 'O','N'};

voor (ik = 0; ik < 12; i ++)

{

LCD.setCursor(i,0);

LCD.print(displayitem5[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 11; i ++)

{

LCD.setCursor(i,1);

LCD.print(displayitem6[i]);

LCD.print("_");

delay(50);

}

voor (ik = 0; ik < 3; i ++)

{

delay(500);

LCD.setCursor(11,1);

LCD.print("");

delay(500);

LCD.setCursor(11,1);

LCD.print("_");

}

}

VOID LCD_normal()

{

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

LCD.setCursor(0,0);

LCD.print("ULTRASONIC");

LCD.setCursor(0,1);

LCD.print("INITIATED");

LCD.setCursor(11,0);

LCD.print(targetDistance);

delay(50);

}

VOID LCD_obstacle()

{

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

LCD.setCursor(0,0);

LCD.print("OBSTACLE");

LCD.setCursor(0,1);

LCD.print("DETECTED");

LCD.setCursor(11,0);

LCD.print(targetDistance);

delay(100);

}

VOID LCD_final()

{

LCD.setCursor(0,0);

LCD.print ("** dank u **");

delay(1000);

LCD.setCursor(0,1);

LCD.print ("PROJECT: ABRC");

delay(2000);

voor (ik = 0; ik < 2; i ++)

{

LCD.setCursor(0,i);

LCD.print("");

}

}