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  • Practicas (01-08) Robots Moviles

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    Mayra Vilchis
    2 views11 pages
    The document contains code for controlling a robot using Arduino. It defines variables for motor pins and movement commands like forward, reverse, left and right turns. The code progresses from basic movement commands to using buttons/keyboard, line following sensors and detecting stations along a track. The final section describes making the robot follow a line using three sensors, detect stations using all sensors on the line, and log its progress to the serial monitor.

    Original Description:

    Topicos Avanzados De Robotica

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    The document contains code for controlling a robot using Arduino. It defines variables for motor pins and movement commands like forward, reverse, left and right turns. The code progresses from basic movement commands to using buttons/keyboard, line following sensors and detecting stations along a track. The final section describes making the robot follow a line using three sensors, detect stations using all sensors on the line, and log its progress to the serial monitor.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    2 views11 pages

    Practicas (01-08) Robots Moviles

    Uploaded by

    Mayra Vilchis
    The document contains code for controlling a robot using Arduino. It defines variables for motor pins and movement commands like forward, reverse, left and right turns. The code progresses from basic movement commands to using buttons/keyboard, line following sensors and detecting stations along a track. The final section describes making the robot follow a line using three sensors, detect stations using all sensors on the line, and log its progress to the serial monitor.

    Copyright:

    © All Rights Reserved
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as txt, pdf, or txt
    of 11

    /PRACTICA 2: "CONTROL DE DESPLAZAMIENTO BÁSICOS" 10/11/2022

    byte m1r = 12;


    byte m1a = 11;
    byte m2r = 10;
    byte m2a = 9;
    byte m3a = 8;
    byte m3r = 7;
    byte m4r = 6;
    byte m4a = 5;
    byte mov = 0;

    void setup() {
    }

    void loop() {
    if (mov==0){
    adelante (127, 2000);
    adelante (255, 1000);
    detenerse (1000);
    reversa (127, 2000);
    reversa (255, 1000);
    detenerse (1000);
    mov++;
    }
    }
    void detenerse (int t){
    analogWrite (m1a, 0);
    analogWrite (m1r, 0);
    analogWrite (m2a, 0);
    analogWrite (m2r, 0);
    analogWrite (m3a, 0);
    analogWrite (m3r, 0);
    analogWrite (m4a, 0);
    analogWrite (m4r, 0);
    delay(t);
    }

    void adelante (int vel, int t){


    analogWrite (m1r, 0);
    analogWrite (m2r, 0);
    analogWrite (m3r, 0);
    analogWrite (m4r, 0);
    analogWrite (m1a, vel);
    analogWrite (m2a, vel);
    analogWrite (m3a, vel);
    analogWrite (m4a, vel);
    delay(t);
    }

    void reversa (int vel, int t){


    analogWrite (m1a, 0);
    analogWrite (m2a, 0);
    analogWrite (m3a, 0);
    analogWrite (m4a, 0);
    analogWrite (m1r, vel);
    analogWrite (m2r, vel);
    analogWrite (m3r, vel);
    analogWrite (m4r, vel);
    delay(t);

    //PRACTICA 4: "CONTROL DE ROBOT, VUELTA CERRADA CON SUBRUTINAS" 14/11/2022

    byte m1r = 12;


    byte m1a = 11;
    byte m2r = 10;
    byte m2a = 9;
    byte m3r = 8;
    byte m3a = 7;
    byte m4r = 6;
    byte m4a = 5;
    byte mov = 0;

    void setup() {
    }

    void loop() {
    if(mov==0){
    derecha(127, 3000);
    izquierda(127, 3000);
    detenerse(200);
    mov++;
    }
    }

    void derecha(int vel, int t) {


    analogWrite(m1r, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m2a, 0);
    analogWrite(m3a, 0);
    analogWrite(m1r, vel);
    analogWrite(m4r, vel);
    analogWrite(m2a, vel);
    analogWrite(m3a, vel);
    delay(t);
    }

    void izquierda(int vel, int t) {


    analogWrite(m1r, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m1a, 0);
    analogWrite(m4a, 0);
    analogWrite(m1a, vel);
    analogWrite(m4a, vel);
    analogWrite(m2r, vel);
    analogWrite(m3r, vel);
    delay(t);
    }

    void detenerse(int t) {
    analogWrite(m1a, 0);
    analogWrite(m1r, 0);
    analogWrite(m2a, 0);
    analogWrite(m2r, 0);
    analogWrite(m3a, 0);
    analogWrite(m3r, 0);
    analogWrite(m4a, 0);
    analogWrite(m4r, 0);
    delay(t);
    }

    //PRACTICA 3: "CONTROL DE ROBOT VUELTA ABIERTA CON SUBRUTINAS" 14/11/2022

    byte m1r = 12;


    byte m1a = 11;
    byte m2r = 10;
    byte m2a = 9;
    byte m3r = 8;
    byte m3a = 7;
    byte m4r = 6;
    byte m4a = 5;
    byte mov = 0;

    void setup() {
    }

    void loop() {
    if(mov==0){
    derecha(255, 5000);
    izquierda(255, 5000);
    detenerse(200);
    mov++;
    }

    }
    void derecha(int vel, int t) {
    analogWrite(m1r, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m2a, 0);
    analogWrite(m3a, 0);
    analogWrite(m1a, vel);
    analogWrite(m4a, vel);
    delay(t);
    }
    void izquierda(int vel, int t) {
    analogWrite(m1r, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m1a, 0);
    analogWrite(m4a, 0);
    analogWrite(m2a, vel);
    analogWrite(m3a, vel);
    delay(t);
    }
    void detenerse(int t) {
    analogWrite(m1a, 0);
    analogWrite(m1r, 0);
    analogWrite(m2a, 0);
    analogWrite(m2r, 0);
    analogWrite(m3a, 0);
    analogWrite(m3r, 0);
    analogWrite(m4a, 0);
    analogWrite(m4r, 0);
    delay(t);
    }

    -------------------------------

    //PRACTICA 5: "CONTROL DE ROBOT CON TECLADO" 14/11/2022

    byte m1r = 12;


    byte m1a = 11;
    byte m2r = 10;
    byte m2a = 9;
    byte m3r = 8;
    byte m3a = 7;
    byte m4r = 6;
    byte m4a = 5;
    int tecla = 0;

    void setup() {
    Serial.begin(9600);
    }

    void loop() {
    if (Serial.available()) {
    tecla = Serial.read();
    if (tecla == 'd' || tecla == 'D') detenerse ();
    else if (tecla == 'a') adelante(127);
    else if (tecla == 'A') adelante(255);
    else if (tecla == 'r') reversa(127);
    else if (tecla == 'R') reversa(255);
    else if (tecla == 'h') giroabiertoder(127);
    else if (tecla == 'i') giroabiertoizq(127);
    else if (tecla == 'b') girocerradoder(127);
    else if (tecla == 'c') girocerradoizq(127);
    }
    }

    void detenerse () {
    analogWrite(m1r, 0);
    analogWrite(m1a, 0);
    analogWrite(m2r, 0);
    analogWrite(m2a, 0);
    analogWrite(m3r, 0);
    analogWrite(m3a, 0);
    analogWrite(m4r, 0);
    analogWrite(m4a, 0);
    }
    void adelante(int vel) {
    analogWrite(m1r, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m1a, vel);
    analogWrite(m2a, vel);
    analogWrite(m3a, vel);
    analogWrite(m4a, vel);
    }
    void reversa(int vel) {
    analogWrite(m1a, 0);
    analogWrite(m2a, 0);
    analogWrite(m3a, 0);
    analogWrite(m4a, 0);
    analogWrite(m1r, vel);
    analogWrite(m2r, vel);
    analogWrite(m3r, vel);
    analogWrite(m4r, vel);
    }
    void giroabiertoder(int vel) {
    analogWrite(m1r, 0);
    analogWrite(m2a, 0);
    analogWrite(m2r, 0);
    analogWrite(m3a, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m1a, vel);
    analogWrite(m4a, vel);
    }
    void giroabiertoizq(int vel) {
    analogWrite(m1r, 0);
    analogWrite(m1a, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m4a, 0);
    analogWrite(m2a, vel);
    analogWrite(m3a, vel);
    }
    void girocerradoder(int vel) {
    analogWrite(m1r, 0);
    analogWrite(m2a, 0);
    analogWrite(m3a, 0);
    analogWrite(m4r, 0);
    analogWrite(m1a, vel);
    analogWrite(m4a, vel);
    analogWrite(m2r, vel);
    analogWrite(m3r, vel);
    }
    void girocerradoizq(int vel) {
    analogWrite(m1a, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4a, 0);
    analogWrite(m2a, vel);
    analogWrite(m3a, vel);
    analogWrite(m1r, vel);
    analogWrite(m4r, vel);
    }
    -----------------------------------------

    /PRACTICA 6: "CONTROL DE ROBOT CON SENSOR DE SEGUIDOR DE LINEA" 16/11/2022


    #define linea 0
    #define nolinea 1

    byte m1r = 12;


    byte m1a = 11;
    byte m2r = 10;
    byte m2a = 9;
    byte m3r = 8;
    byte m3a = 7;
    byte m4r = 6;
    byte m4a = 5;
    byte sd = 27, sc = 29, si = 31;
    byte Derecha, Centro, Izquierda;

    void setup() {
    pinMode(sd, INPUT);
    pinMode(sc, INPUT);
    pinMode(si, INPUT);
    }

    void loop() {
    Derecha = digitalRead(sd);
    Centro = digitalRead(sc);
    Izquierda = digitalRead(si);

    if (Derecha == nolinea && Centro == linea && Izquierda == nolinea) {


    adelante(127);
    }

    if (Derecha == nolinea && Centro == nolinea && Izquierda == linea) {


    GiroabiertoIzq(127);
    }

    if (Derecha == linea && Centro == nolinea && Izquierda == nolinea) {


    GiroabiertoDer(127);
    }

    if (Derecha == nolinea && Centro == nolinea && Izquierda == nolinea) {


    reversa(127);
    }
    }
    void adelante (int vel) {
    analogWrite(m1r, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m1a, vel);
    analogWrite(m2a, vel);
    analogWrite(m3a, vel);
    analogWrite(m4a, vel);
    }

    void reversa (int vel) {


    analogWrite(m1a, 0);
    analogWrite(m2a, 0);
    analogWrite(m3a, 0);
    analogWrite(m4a, 0);
    analogWrite(m1r, vel);
    analogWrite(m2r, vel);
    analogWrite(m3r, vel);
    analogWrite(m4r, vel);
    }

    void GiroabiertoDer (int vel) {


    analogWrite(m1r, 0);
    analogWrite(m2a, 0);
    analogWrite(m2r, 0);
    analogWrite(m3a, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m1a, vel);
    analogWrite(m4a, vel);
    }

    void GiroabiertoIzq (int vel) {


    analogWrite(m1a, 0);
    analogWrite(m1r, 0);
    analogWrite(m2r, 0);
    analogWrite(m3r, 0);
    analogWrite(m4r, 0);
    analogWrite(m4a, 0);
    analogWrite(m2a, vel);
    analogWrite(m3a, vel);
    }
    ---------------------------------------

    //PRACTICA 7: "CONTROL DE ROBOT CON SENSOR SEGUIDOR DE LINEA CON ESTACIONES"


    17/11/2022

    #define linea 0
    #define nolinea 1

    byte m1r = 12;


    byte m1a = 11;
    byte m2r = 10;
    byte m2a = 9;
    byte m3r = 8;
    byte m3a = 7;
    byte m4r = 6;
    byte m4a = 5;
    byte sd=27, sc=29, si=31;
    byte derecha, centro, izquierda;
    byte estaciones = 0;

    void setup() {
    pinMode(sd, INPUT);
    pinMode(sc, INPUT);
    pinMode(si, INPUT);
    Serial.begin(9600);
    }

    void loop() {
    derecha = digitalRead(sd);
    centro = digitalRead(sc);
    izquierda = digitalRead(si);

    if (izquierda == nolinea && centro == linea && derecha == nolinea) {


    adelante(127);
    }
    if (izquierda == linea && centro == nolinea && derecha == nolinea) {
    giroabiertoizq(127);
    }
    if (izquierda == nolinea && centro == nolinea && derecha == linea) {
    giroabiertoder(127);
    }
    if (izquierda == nolinea && centro == nolinea && derecha == nolinea){
    reversa(127);
    }
    if (izquierda == linea && centro == linea && derecha == linea && estaciones < 10)
    {
    estaciones++;
    detenerse(5000);
    adelante(127);
    delay(100);
    }
    }

    void detenerse(int t) {
    analogWrite(m1a,0);
    analogWrite(m1r,0);
    analogWrite(m2a,0);
    analogWrite(m2r,0);
    analogWrite(m3a,0);
    analogWrite(m3r,0);
    analogWrite(m4a,0);
    analogWrite(m4r,0);
    Serial.println("estacion");
    delay(t);
    }

    void adelante(int vel) {


    analogWrite(m1r,0);
    analogWrite(m2r,0);
    analogWrite(m3r,0);
    analogWrite(m4r,0);
    analogWrite(m1a,vel);
    analogWrite(m2a,vel);
    analogWrite(m3a,vel);
    analogWrite(m4a,vel);
    Serial.println("adelante");
    }

    void reversa(int vel) {


    analogWrite(m1a,0);
    analogWrite(m2a,0);
    analogWrite(m3a,0);
    analogWrite(m4a,0);
    analogWrite(m1r,vel);
    analogWrite(m2r,vel);
    analogWrite(m3r,vel);
    analogWrite(m4r,vel);
    Serial.println("reversa");
    }

    void giroabiertoder(int vel) {


    analogWrite(m1a,vel);
    analogWrite(m4a,vel);
    analogWrite(m2a,0);
    analogWrite(m3a,0);
    analogWrite(m1r,0);
    analogWrite(m2r,0);
    analogWrite(m3r,0);
    analogWrite(m4r,0);
    Serial.println("giro derecha");
    }

    void giroabiertoizq(int vel) {


    analogWrite(m3a,vel);
    analogWrite(m2a,vel);
    analogWrite(m1a,0);
    analogWrite(m4a,0);
    analogWrite(m1r,0);
    analogWrite(m2r,0);
    analogWrite(m3r,0);
    analogWrite(m4r,0);
    Serial.println("giro izquierda");
    }
    --------------------------------------------------------

    /PRACTICA 8: "CONTROL DE ROBOT CON SENSOR SEGUIDOR DE LINEA Y SENSOR ULTRASÓNICO"


    23/11/2022

    #define linea 0
    #define nolinea 1
    byte m1r=12;
    byte m1a=11;
    byte m2r=10;
    byte m2a=9;
    byte m3r=8;
    byte m3a=7;
    byte m4r=6;
    byte m4a=5;
    byte pindisparo=2;
    byte pineco=3;
    byte sd=27, sc=29, si=31;
    byte Derecha, Centro, Izquierda;
    long TiempoMs;
    int Dist;

    void setup() {
    pinMode(sd,INPUT);
    pinMode(sc,INPUT);
    pinMode(si,INPUT);
    pinMode(pindisparo,OUTPUT);
    pinMode(pineco,INPUT);
    Serial.begin(9600);
    }

    void loop() {
    iniciarDisparo();
    TiempoMs=pulseIn(pineco, HIGH);
    Dist=TiempoMs*0.01715;
    Serial.println (Dist);
    if(Dist>=90){
    Derecha=digitalRead(sd);
    Centro=digitalRead(sc);
    Izquierda=digitalRead(si);
    if(Izquierda == nolinea && Centro == linea && Derecha == nolinea) {
    adelante(127);
    }
    if(Izquierda == linea && Centro == nolinea && Derecha == nolinea) {
    abiertai(127);
    }
    if(Izquierda == nolinea && Centro == nolinea && Derecha == linea) {
    abiertad(127);
    }
    if(Izquierda == nolinea && Centro == nolinea && Derecha == nolinea) {
    reversa(127);
    }
    if(Derecha == linea && Centro == linea && Izquierda == linea){
    detenerse(5000);
    adelante(127);
    delay(100);
    }
    }
    if(Dist>=40 && Dist<80){
    Derecha = digitalRead(sd);
    Centro = digitalRead(sc);
    Izquierda = digitalRead(si);
    if(Izquierda == nolinea && Centro == linea && Derecha == nolinea) {
    adelante(80);
    }
    if(Izquierda == linea && Centro == nolinea && Derecha == nolinea) {
    abiertai(80);
    }
    if(Izquierda == nolinea && Centro == nolinea && Derecha == linea) {
    abiertad(80);
    }
    if(Izquierda == nolinea && Centro == nolinea && Derecha == nolinea) {
    reversa(80);
    }
    if(Derecha == linea && Centro == linea && Izquierda == linea){
    detenerse(5000);
    adelante(80);
    delay(100);
    }
    }
    if(Dist<40){
    detenerse(80);
    }
    delay(100);
    }

    void iniciarDisparo(){
    digitalWrite(pindisparo,LOW);
    delayMicroseconds(2);
    digitalWrite(pindisparo,HIGH);
    delayMicroseconds(10);
    digitalWrite(pindisparo,LOW);
    }

    void detenerse(int t) {
    analogWrite(m1a,0);
    analogWrite(m1r,0);
    analogWrite(m2a,0);
    analogWrite(m2r,0);
    analogWrite(m3a,0);
    analogWrite(m3r,0);
    analogWrite(m4a,0);
    analogWrite(m4r,0);
    delay(t);
    }

    void adelante(int vel) {


    analogWrite(m1r,0);
    analogWrite(m2r,0);
    analogWrite(m3r,0);
    analogWrite(m4r,0);
    analogWrite(m1a,vel);
    analogWrite(m2a,vel);
    analogWrite(m3a,vel);
    analogWrite(m4a,vel);
    }

    void reversa(int vel) {


    analogWrite(m1a,0);
    analogWrite(m2a,0);
    analogWrite(m3a,0);
    analogWrite(m4a,0);
    analogWrite(m1r,vel);
    analogWrite(m2r,vel);
    analogWrite(m3r,vel);
    analogWrite(m4r,vel);
    }

    void abiertad(int vel) {


    analogWrite(m1a,vel);
    analogWrite(m4a,vel);
    analogWrite(m2a,0);
    analogWrite(m3a,0);
    analogWrite(m1r,0);
    analogWrite(m2r,0);
    analogWrite(m3r,0);
    analogWrite(m4r,0);
    }

    void abiertai(int vel) {


    analogWrite(m3a,vel);
    analogWrite(m2a,vel);
    analogWrite(m1a,0);
    analogWrite(m4a,0);
    analogWrite(m1r,0);
    analogWrite(m2r,0);
    analogWrite(m3r,0);
    analogWrite(m4r,0);
    }

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