Voiture télécommandée par bluetooth : Différence entre versions
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+ | ===Modélisation du châssis=== | ||
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Version du 21 janvier 2019 à 22:53
Sommaire
Description du projet
Matériel
• module Bluetooth HC-06 • Variateur de vitesse L298N • 2x moteurs • Arduino Uno • 6x piles 1.5 V • Câbles
Réalisation
Schéma de câblage
Code Arduino
#define enA 9 #define in1 4 #define in2 5 #define enB 10 #define in3 6 #define in4 7 int xAxis, yAxis; int x = 0; int y = 0; int motorSpeedA = 0; int motorSpeedB = 0; void setup() { pinMode(enA, OUTPUT); pinMode(enB, OUTPUT); pinMode(in1, OUTPUT); pinMode(in2, OUTPUT); pinMode(in3, OUTPUT); pinMode(in4, OUTPUT); Serial.begin(38400); // Default communication rate of the Bluetooth module } void loop() { // Default value - no movement when the Joystick stays in the center xAxis = 510; yAxis = 510; // Read the incoming data from the Smartphone Android App while (Serial.available() >= 2) { x = Serial.read(); delay(10); y = Serial.read(); } delay(10); // Makes sure we receive corrent values if (x > 60 & x < 220) { xAxis = map(x, 220, 60, 1023, 0); // Convert the smartphone X and Y values to 0 - 1023 range, suitable motor for the motor control code below } if (y > 60 & y < 220) { yAxis = map(y, 220, 60, 0, 1023); } // Y-axis used for forward and backward control if (yAxis < 470) { // Set Motor A backward digitalWrite(in1, HIGH); digitalWrite(in2, LOW); // Set Motor B backward digitalWrite(in3, HIGH); digitalWrite(in4, LOW); // Convert the declining Y-axis readings for going backward from 470 to 0 into 0 to 255 value for the PWM signal for increasing the motor speed motorSpeedA = map(yAxis, 470, 0, 0, 255); motorSpeedB = map(yAxis, 470, 0, 0, 255); } else if (yAxis > 550) { // Set Motor A forward digitalWrite(in1, LOW); digitalWrite(in2, HIGH); // Set Motor B forward digitalWrite(in3, LOW); digitalWrite(in4, HIGH); // Convert the increasing Y-axis readings for going forward from 550 to 1023 into 0 to 255 value for the PWM signal for increasing the motor speed motorSpeedA = map(yAxis, 550, 1023, 0, 255); motorSpeedB = map(yAxis, 550, 1023, 0, 255); } // If joystick stays in middle the motors are not moving else { motorSpeedA = 0; motorSpeedB = 0; } // X-axis used for left and right control if (xAxis < 470) { // Convert the declining X-axis readings from 470 to 0 into increasing 0 to 255 value int xMapped = map(xAxis, 470, 0, 0, 255); // Move to left - decrease left motor speed, increase right motor speed motorSpeedA = motorSpeedA - xMapped; motorSpeedB = motorSpeedB + xMapped; // Confine the range from 0 to 255 if (motorSpeedA < 0) { motorSpeedA = 0; } if (motorSpeedB > 255) { motorSpeedB = 255; } } if (xAxis > 550) { // Convert the increasing X-axis readings from 550 to 1023 into 0 to 255 value int xMapped = map(xAxis, 550, 1023, 0, 255); // Move right - decrease right motor speed, increase left motor speed motorSpeedA = motorSpeedA + xMapped; motorSpeedB = motorSpeedB - xMapped; // Confine the range from 0 to 255 if (motorSpeedA > 255) { motorSpeedA = 255; } if (motorSpeedB < 0) { motorSpeedB = 0; } } // Prevent buzzing at low speeds (Adjust according to your motors. My motors couldn't start moving if PWM value was below value of 70) if (motorSpeedA < 70) { motorSpeedA = 0; } if (motorSpeedB < 70) { motorSpeedB = 0; } analogWrite(enA, motorSpeedA); // Send PWM signal to motor A analogWrite(enB, motorSpeedB); // Send PWM signal to motor B
Modélisation du châssis
Modélisation du châssis
truc
Équipe
Zakaria Chellaoui Toufik EL Guerch Ahmed EL Boukri Assaad EL Fellah Idrissi