16 Dec 2011

"Wally" -- IR Detection Robot V1

I will update the functionality of this robot, and upload some videos.

 16/12/2011

Object following:

 bad points:
1. head needs to be rebuild with better material for more smooth performance.
2. coding needs improvement.




update: 

 18/12/2011 
I have improved this robot and details are here: 
http://arduin0.blogspot.com/2011/12/ir-detection-robot-enhanced-version-v2.html

today I simply assembled all the parts I built previously. the Main thing I did was on the coding.

the Parts can be found here:


Before I put them together, I first made a base with a recycled CD.



So this is the final result:




Here is my code:

  1. #include <Servo.h>
  3. // Pins
  4. byte leftIRPin = A0;
  5. byte rightIRPin = A1;
  6. byte upIRPin = A2;
  7. byte downIRPin = A3;
  8.        
  9. byte lrServoPin = 2;
  10. byte udServoPin = 3;
  12. byte motorPin1 = 4;
  13. byte motorPin2 = 5;
  14. byte motorPin3 = 6;
  15. byte motorPin4 = 7;
  17. byte irLEDPin = 8;
  18.        
  19. // Servos
  20. Servo lrServo;
  21. Servo udServo;
  22.        
  23. int lrServoPos = 1500;
  24. int udServoPos = 1500;
  25.        
  26. //IR values
  27. int leftValue_amb;
  28. int rightValue_amb;
  29. int upValue_amb;
  30. int downValue_amb;
  31.        
  32. int leftValue;
  33. int rightValue;
  34. int upValue;
  35. int downValue;
  36.        
  37. int distance;   // from 0 - 1000, the larger the closer
  38. int minDistance = 165;
  39. int servoAdjust = 25;
  40. int minDif = 30;
  43. void ReadIR(){
  45.   digitalWrite(irLEDPin, HIGH);
  46.   delay(15);
  48.   // total values
  49.   leftValue = analogRead(leftIRPin);  
  50.   rightValue = analogRead(rightIRPin);  
  51.   upValue = analogRead(upIRPin);  
  52.   downValue = analogRead(downIRPin);  
  53.        
  54.   digitalWrite(irLEDPin, LOW);
  55.   delay(15);
  56.        
  57.   leftValue_amb = analogRead(leftIRPin);  
  58.   rightValue_amb = analogRead(rightIRPin);  
  59.   upValue_amb = analogRead(upIRPin);  
  60.   downValue_amb = analogRead(downIRPin);  
  62.   leftValue = leftValue - leftValue_amb;
  63.   rightValue = rightValue - rightValue_amb;
  64.   upValue = upValue - upValue_amb;
  65.   downValue = downValue - downValue_amb;
  67.   distance = (leftValue + rightValue + upValue +downValue)/4;
  69.        
  70. }
  73. void setup()
  74. {
  76.   pinMode(irLEDPin, OUTPUT);
  77.   pinMode(motorPin1, OUTPUT);
  78.   pinMode(motorPin2, OUTPUT);
  79.   pinMode(motorPin3, OUTPUT);
  80.   pinMode(motorPin4, OUTPUT);
  82.   lrServo.attach(lrServoPin);
  83.   udServo.attach(udServoPin);
  84.   lrServo.writeMicroseconds(lrServoPos);
  85.   udServo.writeMicroseconds(udServoPos);
  87. }
  90. void loop()
  91. {
  93.   ReadIR();
  95.   // =============== Track Object =================
  97.   if (distance > minDistance){
  98.     if ((rightValue - leftValue) > minDif)
  99.       lrServoPos = lrServoPos - servoAdjust ;
  100.     else if ((leftValue - rightValue) > minDif)
  101.       lrServoPos = lrServoPos  + servoAdjust ;
  102.     if ((upValue - downValue) > minDif)
  103.       udServoPos = udServoPos + servoAdjust ;
  104.     else if ((downValue - upValue) > minDif)
  105.       udServoPos =  udServoPos - servoAdjust ;
  106.   }
  107.   /*
  108.   // =============== Track Object =================
  109.   int temp = leftValue - rightValue;
  110.   if (distance > 70){
  111.     if (rightValue > leftValue)
  112.       lrServoPos = lrServoPos - (rightValue - leftValue)/5 ;
  113.     else
  114.       lrServoPos = lrServoPos  + (leftValue - rightValue)/5 ;
  115.     if (upValue > downValue)
  116.       udServoPos = udServoPos + (upValue - downValue)/5 ;
  117.     else
  118.       udServoPos =  udServoPos - (downValue - upValue)/5 ;
  119.   }
  120. */
  122.   lrServoPos = constrain(lrServoPos,600,2300);
  123.   udServoPos = constrain(udServoPos,600,2300);
  125.   lrServo.writeMicroseconds(lrServoPos);
  127.   udServo.writeMicroseconds(udServoPos);
  129.   // =============== turn body =================
  131.   if (lrServoPos < 1100){
  132.     digitalWrite(motorPin1, LOW);
  133.     digitalWrite(motorPin2, HIGH);
  134.     digitalWrite(motorPin3, HIGH);
  135.     digitalWrite(motorPin4, LOW);
  136.   }
  137.   else if (lrServoPos > 1900){
  138.     digitalWrite(motorPin1, HIGH);
  139.     digitalWrite(motorPin2, LOW);
  140.     digitalWrite(motorPin3, LOW);
  141.     digitalWrite(motorPin4, HIGH);
  142.   }
  144.   else{
  145.     digitalWrite(motorPin1, LOW);
  146.     digitalWrite(motorPin2, LOW);
  147.     digitalWrite(motorPin3, LOW);
  148.     digitalWrite(motorPin4, LOW);
  149.   }
  151. delay(10);
  153. }