Embedded Files
Durante el pasado curso escolar pusimos en marcha un robot dotado de pinzas y controlado con Arduino UNO y una Shield Imagina Arduino.
Programa para el robot con pinzas y bluetooth
#include <Servo.h>
Servo mano;
Servo pinza;
void setup(){
pinMode(7,OUTPUT);
pinMode(8,OUTPUT);
pinMode(12,OUTPUT);
pinMode(13,OUTPUT);
pinza.attach(6);
mano.attach(5);
Serial.begin(9600);
}
void loop(){
char dato = Serial.read();
//Mover hacia adelante
if(dato == 'U'){
//Rueda derecha
digitalWrite(7,HIGH);
digitalWrite(8,LOW);
//Rueda izquierda
digitalWrite(12,LOW);
digitalWrite(13,HIGH);
}
//Mover hacia atras
if(dato == 'D'){
//Rueda derecha
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
//Rueda izquierda
digitalWrite(12,HIGH);
digitalWrite(13,LOW);
}
//Girar a la derecha
if(dato == 'R'){
//Rueda derecha
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
//Rueda izquierda
digitalWrite(12,LOW);
digitalWrite(13,HIGH);
}
//Girar a la izquierda
if(dato == 'L'){
//Rueda derecha
digitalWrite(7,HIGH);
digitalWrite(8,LOW);
//Rueda izquierda
digitalWrite(12,HIGH);
digitalWrite(13,LOW);
}
//Parar las dos ruedas
if(dato == 'C'){
//Rueda derecha
digitalWrite(7,LOW);
digitalWrite(8,LOW);
//Rueda izquierda
digitalWrite(12,LOW);
digitalWrite(13,LOW);
}
//Abrir la pinza
if(dato == 'a'){
pinza.write(10);
}
//Cerrar la pinza
if(dato == 'b'){
pinza.write(180);
}
//Girar la mano vertical
if(dato == 'c'){
mano.write(0);
}
//Girar la mano horizontal
if(dato == 'd'){
mano.write(90);
}
}
Programa para el robot con pinzas y mando de infrarrojos
la librería <IRremote.h> es incompatible con la librería <Servo.h>, por lo que no utilizaremos esta última.
#include <IRremote.h>
IRrecv receptorinfra(11); //Se crea un receptor de infrarrojos de nombre "receptorinfra", conectado al pin 11
decode_results valor; //En la variable "valor" se guardan los valores enviados por el mando a distancia
int tecla; //En esta variable se guardan los valores asignados a cada tecla del mando a distancia
void setup()
{
Serial.begin(9600);
receptorinfra.enableIRIn(); // Se reinicia el receptor de infrarojos
pinMode(5,OUTPUT);
pinMode(6,OUTPUT);
pinMode(7,OUTPUT);
pinMode(8,OUTPUT);
pinMode(12,OUTPUT);
pinMode(13,OUTPUT);
}
void loop() {
if (receptorinfra.decode(&valor)) { //Si se recibe algun dato del mando a distancia
tecla=valor.value;
Serial.println(tecla);
if (tecla==752){ // Código de la tecla fleha adelante Mover hacia adelante
digitalWrite(7,HIGH);//Rueda derecha
digitalWrite(8,LOW);
digitalWrite(12,LOW); //Rueda izquierda
digitalWrite(13,HIGH);
}
if (tecla==2800){ // Código de la tecla flecha atras Mover hacia atras
digitalWrite(7,LOW);//Rueda derecha
digitalWrite(8,HIGH);
digitalWrite(12,HIGH);//Rueda izquierda
digitalWrite(13,LOW);
}
if (tecla==720){ // Código de la tecla flecha izquierda Mover hacia la izquierda
digitalWrite(7,HIGH);//Rueda derecha
digitalWrite(8,LOW);
digitalWrite(12,HIGH);//Rueda izquierda
digitalWrite(13,LOW);
}
if (tecla==3280){ // Código de la tecla flecha derecha Mover hacia la derecha
digitalWrite(7,LOW);//Rueda derecha
digitalWrite(8,HIGH);
digitalWrite(12,LOW);//Rueda izquierda
digitalWrite(13,HIGH);
}
if (tecla==2672){ // Código de la tecla aceptar (Centro de las flechas) Parar las ruedas
digitalWrite(7,LOW);//Rueda derecha
digitalWrite(8,LOW);
digitalWrite(12,LOW);//Rueda izquierda
digitalWrite(13,LOW);
}
if (tecla==144){ // Código de la tecla subir canal (Girar muneca)
int lenMicroSecondsOfPeriod = 25 * 1000; // 25 milliseconds (ms)
int lenMicroSecondsOfPulse = 1 * 1000; // 1 ms is 0 degrees
int first = 0.7 * 1000; //0.5ms is 0 degrees in HS-422 servo (0.7)
int end = 0.71 * 1000;//3.7
int increment = 0.01 * 1000;
int current = 0;
for(current = first; current <end; current+=increment){
// Servos work by sending a 25 ms pulse.
// 0.7 ms at the start of the pulse will turn the servo to the 0 degree position
// 2.2 ms at the start of the pulse will turn the servo to the 90 degree position
// 3.7 ms at the start of the pulse will turn the servo to the 180 degree position
// Turn voltage high to start the period and pulse
digitalWrite(5, HIGH);
// Delay for the length of the pulse
delayMicroseconds(current);
// Turn the voltage low for the remainder of the pulse
digitalWrite(5, LOW);
// Delay this loop for the remainder of the period so we don't
// send the next signal too soon or too late
delayMicroseconds(lenMicroSecondsOfPeriod - current);
}
}
if (tecla==2192){ // Código de la tecla bajar canal (Girar muneca)
int lenMicroSecondsOfPeriod = 25 * 1000; // 25 milliseconds (ms)
int lenMicroSecondsOfPulse = 1 * 1000; // 1 ms is 0 degrees
int first = 1.7 * 1000; //0.5ms is 0 degrees in HS-422 servo (0.7)
int end = 1.71 * 1000;//3.7
int increment = 0.01 * 1000;
int current = 0;
for(current = first; current <end; current+=increment){
// Servos work by sending a 25 ms pulse.
// 0.7 ms at the start of the pulse will turn the servo to the 0 degree position
// 2.2 ms at the start of the pulse will turn the servo to the 90 degree position
// 3.7 ms at the start of the pulse will turn the servo to the 180 degree position
// Turn voltage high to start the period and pulse
digitalWrite(5, HIGH);
// Delay for the length of the pulse
delayMicroseconds(current);
// Turn the voltage low for the remainder of the pulse
digitalWrite(5, LOW);
// Delay this loop for the remainder of the period so we don't
// send the next signal too soon or too late
delayMicroseconds(lenMicroSecondsOfPeriod - current);
}
}
if (tecla==1168){ // Código de la tecla subir volumen Abrir pinza
int lenMicroSecondsOfPeriod = 25 * 1000; // 25 milliseconds (ms)
int lenMicroSecondsOfPulse = 1 * 1000; // 1 ms is 0 degrees
int first = 0.7 * 1000; //0.5ms is 0 degrees in HS-422 servo (0.7)
int end = 0.71 * 1000;//3.7
int increment = 0.01 * 1000;
int current = 0;
for(current = end; current >first; current-=increment){
// Servos work by sending a 20 ms pulse.
// 0.7 ms at the start of the pulse will turn the servo to the 0 degree position
// 2.2 ms at the start of the pulse will turn the servo to the 90 degree position
// 3.7 ms at the start of the pulse will turn the servo to the 180 degree position
// Turn voltage high to start the period and pulse
digitalWrite(6, HIGH);
// Delay for the length of the pulse
delayMicroseconds(current);
// Turn the voltage low for the remainder of the pulse
digitalWrite(6, LOW);
// Delay this loop for the remainder of the period so we don't
// send the next signal too soon or too late
delayMicroseconds(lenMicroSecondsOfPeriod - current);
}
}
if (tecla==3216){ // Código de la tecla bajar volumen Cerrar pinza
int lenMicroSecondsOfPeriod = 25 * 1000; // 25 milliseconds (ms)
int lenMicroSecondsOfPulse = 1 * 1000; // 1 ms is 0 degrees
int first = 1.7 * 1000; //0.5ms is 0 degrees in HS-422 servo (0.7)
int end = 1.71 * 1000;//3.7
int increment = 0.01 * 1000;
int current = 0;
for(current = end; current >first; current-=increment){
// Servos work by sending a 20 ms pulse.
// 0.7 ms at the start of the pulse will turn the servo to the 0 degree position
// 2.2 ms at the start of the pulse will turn the servo to the 90 degree position
// 3.7 ms at the start of the pulse will turn the servo to the 180 degree position
// Turn voltage high to start the period and pulse
digitalWrite(6, HIGH);
// Delay for the length of the pulse
delayMicroseconds(current);
// Turn the voltage low for the remainder of the pulse
digitalWrite(6, LOW);
// Delay this loop for the remainder of the period so we don't
// send the next signal too soon or too late
delayMicroseconds(lenMicroSecondsOfPeriod - current);
}
}
receptorinfra.resume(); // Recibe el siguiente valor
}
delay(100); //Espera 100 milisegundos
}
A continuación se pueden ver otras imágenes del vehículo.
La plataforma inicial era esta.
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