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 |  موضوع: كتاب Make - an Arduino- Controlled Robot - Autonomous and Remote-Controlled Bots on Wheel الخميس 12 أكتوبر 2023, 2:57 am | |
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Make - an Arduino- Controlled Robot
Autonomous and Remote-Controlled Bots on Wheel
Michael Margolis
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Table of ContentsNext Steps 43
4. Building the Four-Wheeled Mobile Platform . 45
Hardware Required 46
Mechanical Assembly 47
Lay Out the Chassis Parts 47
Motor Assembly . 49
Assemble the Chassis Components 51
Solder the Power and Motor Connections 54
Connecting the Battery Pack and Power Switch . 55
Building the Optional Trickle Charger 56
Assemble the Chassis 57
Mounting Arduino and Connecting Wires to the Shield . 58
Mounting the IR sensors . 65
Mounting the IR Sensors for Edge Detection 65
Mounting the IR Sensors for Line Following . 67
Next Steps 68
5. Tutorial: Getting Started with Arduino 71
Hardware Required 72
Arduino Software 72
Arduino Hardware . 72
Installing the Integrated Development Environment (IDE) 74
Installing Arduino on Windows 74
Installing Arduino on OS X . 75
Installing Arduino on Linux 76
Driver Installation . 76
Connecting the Arduino Board . 78
Using the IDE 78
Uploading and Running the Blink Sketch . 81
Using Tabs 82
Installing Third-Party Libraries . 83
6. Testing the Robot’s Basic Functions . 85
Hardware Required 85
Software Prerequisites . 86
Sketches Used in This Chapter . 87
Load and Run helloRobot.ino 88
About the Sketch 95
Troubleshooting . 98
Making the Sketch Easy to Enhance 99
7. Controlling Speed and Direction . 103
Hardware Required . 103
iv Make an Arduino-Controlled RobotSketches Used in This Chapter 103
Types of Motors 104
Motor Controllers 106
Controlling Motor Speed . 109
How Motor Speed Is Controlled . 109
Code for Motor Control . 110
Calibrating Rotation and Tracking . 116
Software Architecture for Robot Mobility 119
Functions to Encapsulate Robot Movements 123
Core Movement Code 124
Additional Core Functions 126
Functions to Rotate the Robot 127
Higher-Level Movement Functions 130
8. Tutorial: Introduction to Sensors . 133
Hardware Discussed 133
Software . 134
Infrared Reflectance Sensors 134
Sonar Distance Sensors . 137
Maxbotix EZ1 Sonar Distance Sensor 139
Sharp IR Distance Sensor . 141
Proximity Sensor . 142
Sound Sensor 143
Arduino Cookbook . 146
9. Modifying the Robot to React to Edges and Lines
. 147
Hardware Required . 147
Sketches Used in This Chapter 148
The Look Code . 149
Edge Detection 150
Line Following . 154
Seeing Sketch Data . 160
10. Autonomous Movement . 163
Hardware Required . 163
Sketches Used in This Chapter 164
Mounting a Ping Distance Sensor . 165
Making a Mount for the Ping Sensor 166
Mounting the Ping Sensor in a Fixed Position 168
Mounting the Ping Sensor on a Servo . 168
Letting the Robot Wander 170
Table of Contents vAdding Scanning . 178
11. Remote Control . 185
Hardware Required . 185
Sketches Used in This Chapter 186
Design of the Remote Control Code . 186
Controlling the Robot with a TV Type IR Remote . 190
Installing the IR Decoder Chip 190
The IR Remote Software 192
Appendix A. Enhancing Your Robot 201
Appendix B. Using Other Hardware with Your Robot 205
Appendix C. Debugging Your Robot 211
Appendix D. Power Sources 221
Appendix E. Programming Constructs . 231
Appendix F. Arduino Pin and Timer Usage . 235
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