motor procedures

motorprocedures

lesson # aar-04

lesson #4 version 1 (21/02/13) by Jack de Prenter

select software


Select arduinosoftware

select board

If you select no board or the wrong board the aar-04 do'nt work!!!

Selectnano ATmega328


select com port

You see only the Serial Portwhen pc is connect to the aar-04


load program

Load the example from the CD


Examples/_04_move/*

Name project: Example 4, RP6 Motor control

Author: Egbert Koerhuis

Company: Arexx Engineering

Discription:

This Example Program shows how to control the Motors.

Make sure that the AAR can __NOT__ move when uploading the program!

After uploading the program, the AAR will wait 2 seconds before the program start.

>>> DO NOT FORGET TO REMOVE THE USB CABLE, after uploading the program.

ATTENTION: THE ROBOT MOVES AROUND IN THIS EXAMPLE! PLEASE PROVIDE ABOUT

1m x 1m OR MORE FREE SPACE FOR THE ROBOT!

You are free to change the code!

*/

void setup()

{

//Setup: Initalization

pinMode(10, OUTPUT); //pin 10 left foreward

pinMode(9, OUTPUT); //pin 9 left backward

pinMode(5, OUTPUT); //pin 5 right foreward

pinMode(6, OUTPUT); //pin 6 right backward


new discription program

/* This Example Program shows how to control the Motors with

c++ functions. Make sure that the AAR can NOT move when uploading the program! After uploading the program, the AAR will wait 2 seconds before the program start.

>>> DO NOT FORGET TO REMOVE THE USB CABLE <<<

after uploading the program.

ATTENTIONTHE ROBOT MOVES AROUND IN THIS EXAMPLE!

PROVIDE ABOUT 1m x 1m OR MORE FREE SPACE FOR THE ROBOT!

You are free to change the code! */


program structurevoid setup() { initialize input initialize output}

void loop(){ program instructions }


Drive 500ms foreward// set pin 9 to ground // set speed left motor 200 foreward

digitalWrite(9,LOW); analogWrite(10,200);

// set pin 6 to ground// set speed right motor 200 foreward

digitalWrite(5,LOW); analogWrite(6,200);

// drive for 5000ms

delay(5000); lesson #4 version 1 (21/02/13) by Jack de Prenter

FUNCTIONDrive foreward

int forward (int ms){ digitalWrite( 9,LOW); // pin 9 to ground analogWrite (10,200); // speed left motor digitalWrite( 5,LOW); // pin 6 to ground analogWrite ( 6,200); // speed right motor

delay(ms); // drive for ms}


newprogram structure

void setup() { initialize input - output}int function (){ instructions}void loop(){ program instructions } lesson #4 version 1 (21/02/13) by Jack de Prenter

newloop

void loop()

{ int forward (500); }


newloop

void loop(){ int forward (1000); int righTurn ( 700); int forward (1000); int rightTurn ( 700); int forward (2000); int rightRotate(5000); int wait (1000); }


functionmake a right turn

int rightTurn(int ms){// left motor 200 forward

digitalWrite(9,LOW); analogWrite(10,200); // stop right motor

digitalWrite(6,LOW); digitalWrite(5,LOW);

// turn for ms

delay(ms);}


experimental

ms = 255 turn 45 degreesms = 500 turn 90 degreesms = 700 turn 180 degrees

functionMake a rightrotate

int rightRotate(int ms){// left motor 200 forward

digitalWrite( 9,LOW); analogWrite (10,200); // stop right motor

digitalWrite(6,LOW); analogWrite (5,LOW);

// turn for ms

delay(ms);}


experimental

ms = 240 turn 45 degreesms = 480 turn 90 degreesms = 680 turn 180 degrees

practice #1

Make a function:• backward()• leftTurn()• leftRotate()• wait()


CHIP TUNNING 1/2Drive foreward




chip tunning 2/2Drive foreward




Practice #2

chiptuning function:• forward()• backward()


Turn - turn on place

turn on placeturn


practice #3

chiptunning function:• left / right 45 degrees • left / right 90 degrees

chiptunning function:• rotate left/right 45• rotate left/right 90• rotate left/right 180 lesson #4 version 1 (21/02/13) by Jack de Prenter

motor cheat tabel

left motor

right motor

forwarddigitalWrite( 9,LOW)analogWrite (10,200)

forwarddigitalWrite(5,LOW)analogWrite (6,200)

backwarddigitalWrite(10,LOW)analogWrite ( 9,200)

backwarddigitalWrite(6,LOW)analogWrite (5,200)


practice #4

Let your aar-04 move from A to B

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