78
// Special case If the left return distance is greater than 1000, the probe is
blocked and turn right at this moment
}
else
if
(
dr
>=
20
&&
dr
<=
1000
&&
dr
>
dl
)
{
digitalWrite
(
M1
,
180
);
//the speed value of motorA is 180
analogWrite
(
E1
,
0
);
digitalWrite
(
M2
,
0
);
analogWrite
(
E2
,
180
);
//the speed value of motorB is 180
Serial
.
println
(
"Turning right2"
);
delay
(
200
);
// Judge about the distance if the right side then turn right
}
else
if
(
dr
>=
1000
)
{
digitalWrite
(
M1
,
0
);
analogWrite
(
E1
,
180
);
//the speed value of motorA is 180
digitalWrite
(
M2
,
180
);
//the speed value of motorB is 180
analogWrite
(
E2
,
0
);
Serial
.
println
(
"Turning left2"
);
delay
(
200
);
// Special case If the return distance on the right is more than 1000, then the
probe is blocked and turn left at this moment
}
else
if
(
dr
<=
20
&&
dl
<=
20
)
{
digitalWrite
(
M1
,
255
);
//the speed value of motorA is 255
analogWrite
(
E1
,
0
);
digitalWrite
(
M2
,
0
);
analogWrite
(
E2
,
255
);
//the speed value of motorB is 255
Serial
.
println
(
"Turning around"
);
delay
(
700
);
// turn around if both sides are less than 20cm in distance
}
}
}
In front the sections, we focus on the "automatic driving", and they are obstacle avoidance experiments.
We didn't seem to have relationship with the car, it is lack of fun. So in the next few sections, we will
develop the car from other aspects to make sure that we are able to control the car personally, then we will
Summary of Contents for Hummer-Bot
Page 1: ...Hummer Bot Instruction Manual Github https github com keywish keywish hummer bot...
Page 7: ...4...
Page 8: ...5...
Page 9: ...6...
Page 10: ...7...
Page 13: ...10 Fig 2 2 Several commonly usedArduino...
Page 15: ...12 After the completion as shown...
Page 16: ...13 The second step is to Welding wire on the motor...
Page 17: ...14 After the completion as shown...
Page 19: ...16 Fig 3 1 3 Diagram of Aluminum Alloy Bracket Installation...
Page 20: ...17 Fig 3 1 4 Diagram of Motor Installation Fig 3 1 5 Fixing Screw for Motor...
Page 24: ...21 Fig 3 1 10 Diagram of Wheel Installation Fig 3 1 10 Diagram of Wheel Screw Fixation...
Page 29: ...26 Fig 3 1 15 Diagram of Tracing Module Installation...
Page 30: ...27 Fig 3 1 16 Diagram of Screw Brackets Fig 3 1 17 The Back of Complete Installation...
Page 32: ...29 First install the screws on the UNO After the completion as shown...
Page 43: ...40 Fig 3 1 33 Diagram of Wires Arrangement Fig3 1 34 the Effect of Whole Assembly...
Page 56: ...53 Fig 3 2 11 Diagram of Data with Obstacles Fig 3 2 12 Diagram of Data without Obstacles...
Page 69: ...66 Fig 3 2 22 Diagram of Steering Gear Fig 3 2 23 Composition of Steering Gear...
Page 93: ...90 Fig 3 2 42 Receiving Head Position Fig 2 3 43 Installation of Receiving Head...
