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Robô MINI TANK Keyestudio

REF: KS0071


O Mini Tank é um kit robô indicado para todos aqueles que querem começar a desenvolver capacidades de robótica e programação com a plataforma Arduino, de forma muito criativa e divertida. Este robô é capaz de contornar obstáculos através de um sensor ultrassónico, pode ser controlado remotamente por Bluetooth, entre muitas outras funções.

119,38 IVA INCL.

Robot MINI TANK Keyestudio

Características do motor: 6V, 150rpm/min
Para o controlo do motor, utilizar a placa L298N
Equipado com um módulo ultrasónico, capaz de detectar os obstáculos e a distância entre eles.
Contém placa de Bluetooth, capaz de ser controlada remotamente através do telefone.

Outras características: Motor: 6V, 150RPM; O controlador do motor adota o módulo do driver 1298; Equipado com módulo ultra-sónico, pode detectar se há um obstáculo na frente e a distância entre ele e o obstáculo; Módulo sem fio Bluetooth, pode controlar o robô que foi emparelhado com o telemóvel através do Bluetooth; Suporta a conexão de fonte de alimentação externa de 7 ~ 12V, todos os tipos de módulos de sensores, para alcançar diferentes funções.

REF: KS0071 Categorias: , , Etiquetas: ,
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/*   
    L = Left 
    R = Right 
    F = forward 
    B = backward
*/
#include <Servo.h> 
int pinLB = 12;     // define pin 12 
int pinLF = 3;     // define pin 3 
int pinRB = 13;    // define pin 13 
int pinRF = 11;    // define pin 11 
int inputPin = 4;    // define pin for sensor echo
int outputPin =5;    // define pin for sensor trig
int Fspeedd = 0;      // forward speed
int Rspeedd = 0;      // right speed
int Lspeedd = 0;      // left speed
int directionn = 0;   // forward=8 backward=2 left=4 right=6 
Servo myservo;        // set myservo
int delay_time = 250; // settling time after steering servo motor moving B
int Fgo = 8;         // Move F
int Rgo = 6;         // move to the R
int Lgo = 4;         // move to the L
int Bgo = 2;         // move B
void setup()
 {
  Serial.begin(9600);     // Define motor output pin 
  pinMode(pinLB,OUTPUT); // pin 12
  pinMode(pinLF,OUTPUT); // pin 3 (PWM)
  pinMode(pinRB,OUTPUT); // pin 13
  pinMode(pinRF,OUTPUT); // pin 11 (PWM) 
  pinMode(inputPin, INPUT);    // define input pin for sensor
  pinMode(outputPin, OUTPUT);  // define output pin for sensor   
  myservo.attach(9);    // Define servo motor output pin to D9 (PWM)
 }
void advance()     // move forward
    { 
    digitalWrite(pinLB,LOW);    // right wheel moves forward
digitalWrite(pinRB, LOW);  // left wheel moves forward
    analogWrite(pinLF,255);   
    analogWrite(pinRF,255);
    }
void stopp()         // stop 
    {
     digitalWrite(pinLB,HIGH);
     digitalWrite(pinRB,HIGH);
     analogWrite(pinLF,0);
     analogWrite(pinRF,0); 
    }
void right()        // turn right (single wheel)
    {
   digitalWrite(pinLB,HIGH);  // wheel on the left moves forward
   digitalWrite(pinRB,LOW); // wheel on the right moves backward
   analogWrite(pinLF, 255);
   analogWrite(pinRF,255);   
    }
void left()         // turn left (single wheel)
    {
   digitalWrite(pinLB,LOW);  // wheel on the left moves backward
   digitalWrite(pinRB,HIGH); // wheel on the right moves forward
   analogWrite(pinLF, 255);
   analogWrite(pinRF,255);  
    }
  
void back()          // move backward
    {
     digitalWrite(pinLB,HIGH);  // motor moves to left rear
     digitalWrite(pinRB,HIGH);  // motor moves to right rear
     analogWrite(pinLF,255);  
     analogWrite(pinRF,255);     
    }
void detection()        // measure 3 angles (0.90.179)
    {      
      int delay_time = 250;   // stabilizing time for servo motor after moving backward
      ask_pin_F();            // read the distance ahead
     if(Fspeedd < 10)         // if distance ahead is <10cm
      {
      stopp();               // clear data 
      delay(100);
      back();                // move backward for 0.2S
      delay(200);
      }
      if(Fspeedd < 25)         // if distance ahead is <25cm
      {
        stopp();  
        delay(100);             // clear data 
        ask_pin_L();            // read distance on the left
        delay(delay_time);      // stabilizing time for servo motor
        ask_pin_R();            // read distance on the right  
        delay(delay_time);      // stabilizing time for servo motor  
        
        if(Lspeedd > Rspeedd)   // if distance on the left is >distance on the right
        {
          directionn = Lgo;      // move to the L
        }
         if(Lspeedd <= Rspeedd)   // if distance on the left is <= distance on the right
        {
         directionn = Rgo;      // move to the right
        } 
        if (Lspeedd < 10 && Rspeedd < 10)   // if distance on left and right are both <10cm
        {
         directionn = Bgo;      // move backward        
        } }
      else                      // if distance ahead is >25cm     
      {
        directionn = Fgo;        // move forward      
      }}    
void ask_pin_F()   // measure the distance ahead 
    {
      myservo.write(90);
      digitalWrite(outputPin, LOW);   // ultrasonic sensor transmit low level signal 2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // ultrasonic sensor transmit high level signal10μs, at least 10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // keep transmitting low level signal
      float Fdistance = pulseIn(inputPin, HIGH);  // read the time in between
      Fdistance= Fdistance/5.8/10;       // convert time into distance (unit: cm) 
      Fspeedd = Fdistance;              // read the distance into Fspeedd
  Serial.print("Fspeedd = ");
  Serial.print(Fspeedd );
  Serial.println("  cm");   
    }  
 void ask_pin_L()   // measure distance on the left 
    {
      myservo.write(5);
      delay(delay_time);
      digitalWrite(outputPin, LOW);   // ultrasonic sensor transmit low level signal 2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // ultrasonic sensor transmit high level signal10μs, at least 10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // keep transmitting low level signal
      float Ldistance = pulseIn(inputPin, HIGH);  // read the time in between
      Ldistance= Ldistance/5.8/10;       // convert time into distance (unit: cm)
      Lspeedd = Ldistance;              // read the distance into Lspeedd
  Serial.print("Lspeedd = ");
  Serial.print(Lspeedd );
      Serial.print("  cm  ");
    }  
void ask_pin_R()   //  measure distance on the right 
    {
      myservo.write(177);
      delay(delay_time);
      digitalWrite(outputPin, LOW);   // ultrasonic sensor transmit low level signal 2μs
      delayMicroseconds(2);
      digitalWrite(outputPin, HIGH);  // ultrasonic sensor transmit high level signal10μs, at least 10μs
      delayMicroseconds(10);
      digitalWrite(outputPin, LOW);    // keep transmitting low level signal
      float Rdistance = pulseIn(inputPin, HIGH);  // read the time in between
      Rdistance= Rdistance/5.8/10;       // convert time into distance (unit: cm)
      Rspeedd = Rdistance;              // read the distance into Rspeedd
  Serial.print(" Rspeedd = ");
  Serial.print(Rspeedd );
      Serial.println("  cm");
    }  
void loop()
  {
    myservo.write(90);  // home set the servo motor, ready for next measurement
    detection();        // measure the angle and determine which direction to move   
   if(directionn == 2)  // if directionn= 2             
   {
     back(); 
     delay(800);                    //  go backward
     left() ;      
     delay(200);              // Move slightly to the left (to prevent stuck in dead end)
   }
   if(directionn == 6)           // if directionn = 6    
   { back();
     delay(100);  
     right();  
     delay(600);                 // turn right
   }
   if(directionn == 4)          // if directionn = 4    
   { back(); 
     delay(600);      
     left(); 
     delay(600);                  // turn left
   }  
   if(directionn == 8)          // if directionn = 8      
   { advance();       // move forward  
    delay(100);  
   }}

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