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Permalink Responder até João Paulo Ribeiro em 5 abril 2013 at 21:42

Pessoal,

O código que estou utilizando é esse abaixo, só que o robô está bem confuso, não está fazendo os movimentos de forma correta.

/*
RC PulseIn Joystick Servo Control
By: Nick Poole
SparkFun Electronics
Date: 5
License: CC-BY SA 3.0 - Creative commons share-alike 3.0
use this code however you'd like, just keep this license and
attribute. Let me know if you make hugely, awesome, great changes.
*/

int ch1; // Here's where we'll keep our channel values
int ch2;
int ch3;

int move; // Forward/Back speed
int turn; // Turning Factor

int pwm_a = 3; //PWM control for motor outputs
int pwm_b = 11; //PWM control for motor outputs
int dir_a = 12; //direction control for motor outputs
int dir_b = 13; //direction control for motor outputs

void setup() {

pinMode(5, INPUT); // Set our input pins as such
pinMode(6, INPUT);
pinMode(7, INPUT);

Serial.begin(9600); // Pour a bowl of Serial (for debugging)

pinMode(pwm_a, OUTPUT); //Set control pins to be outputs
pinMode(pwm_b, OUTPUT);
pinMode(dir_a, OUTPUT);
pinMode(dir_b, OUTPUT);

analogWrite(pwm_a, 0);
analogWrite(pwm_b, 0);
}

void loop() {

ch1 = pulseIn(4, HIGH, 25000); // Read the pulse width of
ch2 = pulseIn(5, HIGH, 25000); // each channel
ch3 = pulseIn(6, HIGH, 25000);
/*
if(ch1>1000){Serial.println("Left Switch: Engaged");}
if(ch1<1000){Serial.println("Left Switch: Disengaged");}

Serial.print("Right Stick X:");
Serial.println(map(ch3, 1000,2000,-500,500));

Serial.print("Right Stick Y:");
Serial.println(map(ch2, 1000,2000,-500,500));

Serial.println();

delay(100);

clearAndHome();
*/

move = map(ch2, 1000,2000, -500, 500); //center over zero
move = constrain(move, -255, 255); //only pass values whose absolutes are
//valid pwm values

/*What we're doing here is determining whether we want to move
forward or backward*/
if(move>0){digitalWrite(dir_a, 1);digitalWrite(dir_b, 1);};
if(move<0){digitalWrite(dir_a, 0);digitalWrite(dir_b, 0); move=abs(move);};

/*Here we're determining whether a left or a right turn is being
executed*/
turn = map(ch1,1000,2000,-500,500);
turn = constrain(turn, -255, 255);

/*This is where we do some mixing, by subtracting our "turn"
variable from the appropriate motor's speed we can execute
a turn in either direction*/
if(turn>0){analogWrite(pwm_b, move-turn); analogWrite(pwm_a, move);};
if(turn<0){turn=abs(turn); analogWrite(pwm_a, move-turn); analogWrite(pwm_b, move);};

Serial.print("move:"); //Serial debugging stuff
Serial.println(move);

Serial.print("turn:"); //Serial debugging stuff
Serial.println(turn);

Serial.print("move-turn:"); //Serial debugging stuff
Serial.println(move-turn);

Serial.println(); //Serial debugging stuff
Serial.println();
Serial.println();

}

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Permalink Responder até Mauro Assis em 6 abril 2013 at 8:23

Se vc quiser usar o controle de PS/2: automatoBr

No meu robô ficou muito bom, até porque o controle do PS/2 tem muitos acionamentos diferentes.

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Permalink Responder até João Paulo Ribeiro em 6 abril 2013 at 21:33

Obrigado pela resposta Mauro. Pelo que entendi, o projeto foi idealizado para outra aplicação, correto? O princípio para o robô é o mesmo?

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