IDMRM0910 Trabajo Arduino V1.4

PLATAFORMA ARDUINO en diseño de Robots Móviles

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GRUPO A Iván Cantero Mencerreyes

Yen Hi Lee Le e Lay

Víctor Alonso Mendieta Me ndieta

Alberto De Lope

Álvaro Tanarro Tana rro Santamaría Santamarí a

Carlos de la Rubia Tuya

Pedro Quintero Quintero

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cbi cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) sbi sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))

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Morse.h - Library for flashing Morse code. Created by David A. Mellis, November 2, 2007. Released into the public domain. */

#ifndef Morse_h #define Morse_h

#include "WProgram.h"

class Morse { public: Morse(int pin); void dot(); void dash(); private: int _pin; };

#endif

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/* Morse.cpp - Library for flashing Morse code. Created by David A. Mellis, November 2, 2007. Released into the public domain.


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*/

#include "WProgram.h" #include "Morse.h"

Morse::Morse(int pin) { pinMode(pin, OUTPUT); _pin = pin; }

void Morse::dot() { digitalWrite(_pin, HIGH); delay(250); digitalWrite(_pin, LOW); delay(250); }

void Morse::dash() { digitalWrite(_pin, HIGH); delay(1000); digitalWrite(_pin, LOW); delay(250); }

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switchPin = 2; motor1Pin = 3; motor2Pin = 4; enablePin = 9; ledPin = 13;

// // // // //

switch input H-bridge pata 1 (pin 2, 1A) H-bridge pata 2 (pin 7, 2A) H-bridge enable pin LED

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pinMode(motor1Pin, OUTPUT); pinMode(motor2Pin, OUTPUT); pinMode(enablePin, OUTPUT); pinMode(ledPin, OUTPUT);

digitalWrite(enablePin, HIGH); blink(ledPin, 3, 100); }

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void blink(int whatPin, int howManyTimes, int milliSecs) { int i = 0; for ( i = 0; i < howManyTimes; i++) { digitalWrite(whatPin, HIGH); delay(milliSecs/2);


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void loop() { motor.run(FORWARD); delay(1000); motor.run(BACKWARD); delay(1000); motor.run(RELEASE); delay(1000); }

// velocidad 200 de 255

// girar hacia adelante // girar hacia atrás // parar

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void loop() { servo1.write(180); servo2.write(0); delay(1000); servo1.write(0); servo2.write(180); delay(1000); }

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Crear el objeto de motor paso a paso con AF_Stepper (pasos, pasos#) para configurar el puente en H. Pasos indica cuántos pasos por revolución tiene el motor. Con 7.5grados/paso el motor tiene 360/7.5 = 48 pasos. Pasos # es que el puerto al que está conectado el motor. Si estás utilizando M1 y M2, el puerto será 1y si estás utilizando M3 y M4 el puerto será el 2. Ajuste la veloicdad del motor utilizando la función setSpeed ( rpm) donde rpm son las revoluciones por minuto. Cada vez que se quiera mover el motor hay que utilizar la función step ( #pasos, dirección, tipo_paso), donde #pasos es el número de pasos que quieres dar, dirección puede tomar los valores N%$h+$& = 2+(fh+$& V:>: B> X:OB: :@D9:C;D = X:OB: :;>YE

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En el siguiente ejemplo utilizaremos un servo y lo moveremos con los diferentes tipos de pasos explicados anteriormente.

#include AF_Stepper motor(48, 2);

void setup() { motor.setSpeed(10); // 10 rpm motor.step(100, FORWARD, SINGLE);


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motor.release(); delay(1000); } void loop() { motor.step(100, motor.step(100, motor.step(100, motor.step(100, motor.step(100, motor.step(100, motor.step(100, motor.step(100, }

FORWARD, SINGLE); BACKWARD, SINGLE); FORWARD, DOUBLE); BACKWARD, DOUBLE); FORWARD, INTERLEAVE); BACKWARD, INTERLEAVE); FORWARD, MICROSTEP); BACKWARD, MICROSTEP);

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void setup()

//Sección Setup de la estructura de programa

{ beginSerial(9600); pinMode(buttonPin, INPUT); // Configura como entrada el pin digital pinMode(ledPin, OUTPUT); digital

// Configura como salida el pin

}

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void setup() { pinMode(ledPin, OUTPUT); digital 13

// asigna modo salida el pin

} void loop() { val = analogRead(analogPin);

// captura el pin de entrada

if (val >= threshold) { digitalWrite(ledPin, HIGH);

// enciende el LED

} else { digitalWrite(ledPin, LOW);

// apaga el LED

} }


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} void loop() { val = analogRead(analogPin); entrada

// lee o captura el pin de

analogWrite(ledPin, val / 4); // los valores de analogRead van desde 0 a 1023, los valores de analogWrite desde 0 a 255 }

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void loop() { serByte = serialRead(); //almacena el valor del puerto serie if (serByte != -1) { // Muestra el valor si hay alg!n byte en el puerto serie val = serByte; printByte(val); }


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int incomingByte = 0; // almacena el dato serie void setup() { Serial.begin(9600); // abre el puerto serie, y le asigna la velocidad de 9600 bps } void loop() { // envía datos sólo si los recibe:


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int incomingByte = 0; // almacenar el dato serie void setup() {

Serial.begin(9600); velocidad de 9600 bps

// abre el puerto serie,y le asigna la

} void loop() { // envía datos sólo si los recibe: if (Serial.available() > 0) { // lee el byte de entrada: incomingByte = Serial.read(); //lo vuelca a pantalla Serial.print("I received: "); Serial.println(incomingByte, DEC); } }

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long time; void setup(){ Serial.begin(9600); } void loop(){ Serial.print("Time: "); time = millis(); //muestra el tiempo desde que el programa comenzó Serial.println(time); // espera un segundo para no enviar una cantidad masiva de datos delay(1000); }

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int ledPin = 13; // LED conectado a pin digital 13 void setup() { pinMode(ledPin, OUTPUT); pin de salida

// asigna al pin digital como

} void loop() { digitalWrite(ledPin, HIGH);

// enciende el LED

delay(1000);

// espera un segundo

digitalWrite(ledPin, LOW);

// apaga el LED

delay(1000);

// espera un segundo

}


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int outPin = 8; // pin digital 8 void setup() { pinMode(outPin, OUTPUT); digital

// asigna el modo salida al pin

} void loop() { digitalWrite(outPin, HIGH); delayMicroseconds(50); microsegundos digitalWrite(outPin, LOW); delayMicroseconds(50); microsegundos

// da valor de 5v al pin // se detiene unos 50 // da valor de 0v al pin // se detiene unos 50

}

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#define pinX 0 #define ctr_srv 1 #define pinY 2


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#define servoPin 11

#define ledraise 5 #define ledlower 4 #define led 12

#define time 50

boolean portx[4]={HIGH,HIGH,LOW,HIGH}, porty[4]={LOW,LOW,HIGH,LOW};

char i, j; int x, y, ix=2, iy=2; int previousMillis=0, led_ilu=0;

int pos, angulo;

void setup() {

pinMode(17, OUTPUT); pinMode(18, OUTPUT); pinMode(19, OUTPUT); pinMode(20, OUTPUT);

pinMode(28, OUTPUT); pinMode(30, OUTPUT); pinMode(32, OUTPUT); pinMode(34, OUTPUT);

pinMode(servoPin, OUTPUT); }

void loop() {


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x = analogRead(pinX)/256; y = analogRead(pinY)/256; pos= analogRead(ctr_srv);

angulo=(map(pos, 0, 512, 0, 179));

for(i=0;i<4;i++){ porty[i]= LOW; portx[i]= HIGH;}

portx[x]=LOW; porty[y]=HIGH; if(millis()-previousMillis>=time){ previousMillis= millis(); if(analogRead(ledraise)<300){ led_ilu+=5; if(led_ilu>=250) led_ilu=250;} if(analogRead(ledlower)<300){ led_ilu-=5; if(led_ilu<=0) led_ilu=0;}}

servoPulse(); salidas();

}

void salidas(){ char indice;

for(i=17, indice=0;i<21;i++, indice++) digitalWrite(i,portx[indice]); for(i=28, indice=0;i<35;i+=2, indice++) digitalWrite(i,porty[indice]); analogWrite(led, led_ilu);}


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IDMRM0910 Trabajo Arduino V1.4

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