Notes

[07/06 19:05] Emre Plato: http://www.robimek.com/wp-content/uploads/cizgi-izleyen-robot-1.zip
[07/06 19:05] Emre Plato: buna tıklar tıklamaz indiricek
[07/06 19:05] Emre Plato: bundan kütüphaneleri kurucaksınız
[07/06 19:06] Emre Plato: #include <QTRSensors.h>
#define SolMotorileri 9
#define SolMotorGeri 10
#define SagMotorileri 11
#define SagMotorGeri 12
#define ena 4
#define enb 5

#define KP .2
#define KD 5
#define M1_minumum_hiz 120
#define M2_minumum_hiz 120
#define M1_maksimum_hiz 210
#define M2_maksimum_hiz 210
#define MIDDLE_SENSOR 3
#define NUM_SENSORS 5
#define TIMEOUT 2500
#define EMITTER_PIN 2
#define DEBUG 0
int lastError = 0;
int last_proportional = 0;
int integral = 0;
QTRSensorsRC qtrrc((unsigned char[]) { 19,18,17,16,15} ,NUM_SENSORS, TIMEOUT, EMITTER_PIN);

unsigned int sensorValues[NUM_SENSORS];

void setup() {
pinMode(SolMotorileri,OUTPUT);
pinMode(SolMotorGeri,OUTPUT);
pinMode(SagMotorileri,OUTPUT);
pinMode(SagMotorGeri,OUTPUT);
pinMode(ena,OUTPUT);
pinMode(enb,OUTPUT);
delay(1500);
manual_calibration();
set_motors(0,0);

}

void loop() {
unsigned int sensors[5];
int position = qtrrc.readLine(sensors);
int error = position - 2000;

int motorSpeed = KP * error + KD * (error - lastError);
lastError = error;

int leftMotorSpeed = M1_minumum_hiz + motorSpeed;
int rightMotorSpeed = M2_minumum_hiz - motorSpeed;

set_motors(leftMotorSpeed, rightMotorSpeed);

}

void set_motors(int motor1speed, int motor2speed)
{
if (motor1speed > M1_maksimum_hiz ) motor1speed = M1_maksimum_hiz; //MAKSİMUM MOTOR 1 HIZ LİMİTİ
if (motor2speed > M2_maksimum_hiz ) motor2speed = M2_maksimum_hiz; // MAKSİMUM MOTOR 2 HIZ LİMİTİ
if (motor1speed < 0) motor1speed = 0; // MİNIMUMMOTOER 1 HIZ LİMİTİ
if (motor2speed < 0) motor2speed = 0; // MİNİMUM MOTOR 2 HIZ LİMİTİ
analogWrite(ena,motor1speed);
analogWrite(enb,motor2speed);
digitalWrite(SolMotorileri,HIGH);
digitalWrite(SagMotorileri,HIGH);
digitalWrite(SolMotorGeri,LOW);
digitalWrite(SagMotorGeri,LOW);

}

void manual_calibration() {

int i;
for (i = 0; i < 250; i++)
{
qtrrc.calibrate(QTR_EMITTERS_ON);
delay(20);
}

if (DEBUG) {
Serial.begin(9600);
for (int i = 0; i < NUM_SENSORS; i++)
{
Serial.print(qtrrc.calibratedMinimumOn[i]);
Serial.print(' ');
}
Serial.println();

for (int i = 0; i < NUM_SENSORS; i++)
{
Serial.print(qtrrc.calibratedMaximumOn[i]);
Serial.print(' ');
}
Serial.println();
Serial.println();
}
}
[07/06 19:06] Emre Plato: bu kodları
[07/06 19:07] Emre Plato: int trigPin=4;
int echoPin=3;
int olcum;
int cm;

void setup()
{
pinMode(trigPin,OUTPUT);
pinMode(echoPin,INPUT);
pinMode(13,OUTPUT);
pinMode(12,OUTPUT);
Serial.begin(9600);
}
void loop()
{
digitalWrite(trigPin,LOW);
delayMicroseconds(10);
digitalWrite(trigPin,HIGH);
delayMicroseconds(10);
digitalWrite(trigPin,LOW);
olcum=pulseIn(echoPin,HIGH);
cm=olcum/58;
if(cm<0)
{
Serial.println("Veri Hatalı");
}
else
{
if(cm>16)
{
digitalWrite(12,HIGH);
digitalWrite(13,HIGH);
Serial.println("Dönüyor");
}
else
{
digitalWrite(12,LOW);
digitalWrite(13,LOW);
Serial.println("Dönmüyor");
}
Serial.print("cm:");
Serial.println(cm);
delay(500);

}
}
[07/06 19:07] Emre Plato: buda sensör kodu
[07/06 19:08] Emre Plato: çizgi izleme http://notes.io/sR4U
[07/06 19:09] Emre Plato: buda kütüphanlerin olduğu link http://notes.io/sR4T