Stap 19: Upload de Code
Kopieer de onderstaande code en plak deze op uw scherm arduino ide. U moet verwijderen de BT module voordat uploaden als de rx en tx pinnen geassocieerd zijn met het programmeren van een chip dus niets moet worden aangesloten op deze pin tijdens het uploaden van de code. Zo Verwijder je arduino van het schild en uploaden van de code of de BT module verwijderen uit een socket.
#include // add your new ping library here #include // add your liquid crystal library here LiquidCrystal lcd(11, 8, 7, 4, 3, 2); float temp =1; int temppin = A0; int r_motor_n = 9; //PWM control Right Motor + int r_motor_p = 10; //PWM control Right Motor - int l_motor_p = 6; //PWM control Left Motor - int l_motor_n = 5; //PWM control Left Motor + int f_light = A3; int b_light = A4; int horn = 12; int n_light = 13; int speedy = 255; int incomingByte = 0; // for incoming serial data #define TRIGGER A2 // Arduino pin tied to trigger pin on the ultrasonic sensor. #define ECHO A1 // Arduino pin tied to echo pin on the ultrasonic sensor. #define MAX 400 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm. NewPing sonar(TRIGGER, ECHO, MAX); // NewPing setup of pins and maximum distance. void setup() { pinMode(r_motor_n, OUTPUT); //Set control pins to be outputs pinMode(r_motor_p, OUTPUT); pinMode(l_motor_p, OUTPUT); pinMode(l_motor_n, OUTPUT); pinMode(f_light, OUTPUT); pinMode(b_light, OUTPUT); pinMode(n_light, OUTPUT); pinMode(horn, OUTPUT); digitalWrite(r_motor_n, LOW); //set both motors off for start-up digitalWrite(r_motor_p, LOW); digitalWrite(l_motor_p, LOW); digitalWrite(l_motor_n, LOW); Serial.begin(9600); Serial.println("Start"); lcd.begin(16,2); lcd.clear(); lcd.print(" Hello "); lcd.setCursor(0,1); lcd.print(" I'm Robot "); delay(3000); } void loop() {</liquidcrystal.h></newping.h></p><p>if (Serial.available() > 0) { incomingByte = Serial.read(); }</p><p>switch(incomingByte) {</p><p>case 'S': // control to stop the robot digitalWrite(r_motor_n, LOW); digitalWrite(r_motor_p, LOW); digitalWrite(l_motor_p, LOW); digitalWrite(l_motor_n, LOW); Serial.println("Stop"); lcd.clear(); lcd.print("Stop"); incomingByte='*'; break;</p><p>case 'R': //control for right analogWrite(r_motor_n, speedy); digitalWrite(r_motor_p, LOW); analogWrite(l_motor_p, speedy); digitalWrite(l_motor_n, LOW); Serial.println("right"); lcd.clear(); lcd.print("Right"); incomingByte='*'; break;</p><p>case 'L': //control for left digitalWrite(r_motor_n, LOW); analogWrite(r_motor_p, speedy); digitalWrite(l_motor_p, LOW); analogWrite(l_motor_n, speedy); Serial.println("left"); lcd.clear(); lcd.print("Left"); incomingByte='*'; break;</p><p>case 'F': //control for forward analogWrite(r_motor_n, speedy); digitalWrite(r_motor_p, LOW); digitalWrite(l_motor_p, LOW); analogWrite(l_motor_n, speedy); Serial.println("forward"); lcd.clear(); lcd.print("Forward"); incomingByte='*'; break;</p><p>case 'B': //control for backward digitalWrite(r_motor_n, LOW); analogWrite(r_motor_p, speedy); analogWrite(l_motor_p, speedy); digitalWrite(l_motor_n, LOW); Serial.println("backwards"); lcd.clear(); lcd.print("Backward"); incomingByte='*'; break;</p><p>case 'f': //control for stop digitalWrite(r_motor_n, LOW); digitalWrite(r_motor_p, LOW); digitalWrite(l_motor_p, LOW); digitalWrite(l_motor_n, LOW); Serial.println("Stop"); lcd.clear(); lcd.print("Stop"); incomingByte='*'; break;</p><p>case 'd': // control for right analogWrite(r_motor_n, speedy); digitalWrite(r_motor_p, LOW); analogWrite(l_motor_p, speedy); digitalWrite(l_motor_n, LOW); Serial.println("right"); lcd.clear(); lcd.print("Right"); incomingByte='*'; break;</p><p>case 'a': // control for left digitalWrite(r_motor_n, LOW); analogWrite(r_motor_p, speedy); digitalWrite(l_motor_p, LOW); analogWrite(l_motor_n, speedy); Serial.println("left"); lcd.clear(); lcd.print("Left"); incomingByte='*'; break;</p><p>case 'w': // control for forward analogWrite(r_motor_n, speedy); digitalWrite(r_motor_p, LOW); digitalWrite(l_motor_p, LOW); analogWrite(l_motor_n, speedy); Serial.println("forward"); lcd.clear(); lcd.print("Forward"); incomingByte='*'; break;</p><p>case 's': // control for backward digitalWrite(r_motor_n, LOW); analogWrite(r_motor_p, speedy); analogWrite(l_motor_p, speedy); digitalWrite(l_motor_n, LOW); Serial.println("backwards"); lcd.clear(); lcd.print("Backward"); incomingByte='*'; break;</p><p>case 'J': // front lights on digitalWrite(f_light, HIGH); Serial.println("front lights on"); incomingByte='*'; break;</p><p>case 'j': digitalWrite(f_light, LOW); // off Serial.println("front lights off"); incomingByte='*'; break;</p><p>case 'K': digitalWrite(b_light, HIGH); // back lights on Serial.println("back lights on"); incomingByte='*'; break;</p><p>case 'k': digitalWrite(b_light, LOW); // off Serial.println("back lights off"); incomingByte='*'; break;</p><p>case 'G': digitalWrite(n_light, HIGH); // neon lights on Serial.println("neon lights on"); incomingByte='*'; break;</p><p>case 'g': digitalWrite(n_light, LOW); off Serial.println("neon lights off"); incomingByte='*'; break;</p><p>case 'H': digitalWrite(horn, HIGH); // horn on Serial.println("horn on"); incomingByte='*'; break;</p><p>case 'h': digitalWrite(horn, LOW); off Serial.println("horn off"); incomingByte='*'; break;</p><p>case 'O': // PWM speed values speedy = 0 ; Serial.println("speed= 0"); lcd.clear(); lcd.print("Speed=0"); incomingByte='*'; break;</p><p>case '1': speedy = 155; Serial.println("speed= 10"); lcd.clear(); lcd.print("Speed=10"); incomingByte='*'; break;</p><p>case '2': speedy = 165; Serial.println("speed= 20"); lcd.clear(); lcd.print("Speed=20"); incomingByte='*'; break;</p><p>case '3': speedy = 175; Serial.println("speed= 30"); lcd.clear(); lcd.print("Speed =30"); incomingByte='*'; break;</p><p>case '4': speedy = 185; Serial.println("speed= 40"); lcd.clear(); lcd.print("Speed=40"); incomingByte='*'; break;</p><p>case '5': speedy = 195; Serial.println("speed= 50"); lcd.clear(); lcd.print("Speed=50"); incomingByte='*'; break;</p><p>case '6': speedy = 205; Serial.println("speed= 60"); lcd.clear(); lcd.print("Speed=60"); incomingByte='*'; break;</p><p>case '7': speedy = 215; Serial.println("speed= 70"); lcd.clear(); lcd.print("Speed=70"); incomingByte='*'; break;</p><p>case '8': speedy = 225; Serial.println("speed= 80"); lcd.clear(); lcd.print("Speed=80"); incomingByte='*'; break;</p><p>case '9': speedy = 235; Serial.println("speed= 90"); lcd.clear(); lcd.print("Speed=90"); incomingByte='*'; break;</p><p>case 'q': speedy = 255; Serial.println("speed= 100"); lcd.clear(); lcd.print("Speed=100"); incomingByte='*'; break;</p><p>case 'p': delay(50); // display temp. and distance unsigned int uS = sonar.ping(); Serial.print("Distance: "); Serial.print(uS / US_ROUNDTRIP_CM); Serial.println("cm"); lcd.clear(); lcd.print("Distance: "); lcd.print(uS / US_ROUNDTRIP_CM); lcd.print("cm"); lcd.setCursor(0,1); temp = analogRead(temppin); temp = temp * 0.48828125; Serial.print("Temperature = "); Serial.print(temp); Serial.print("*C"); Serial.println(); lcd.print("Temp. = "); lcd.print(temp); lcd.print("*C"); delay(1000); incomingByte='*'; break;</p><p>delay(5000); } }</p>
