Arkadaşlar merhaba, Linkteki projeyi aldım ama sensör kısmında kodlarda hata veriyor. Çalışan kodu bulamadım yardımcı olabilir misiniz. Linteki sitede kodlar da mevcut ama dediğim gibi hata veriyor. http://www.instructables.com/id/Arduino-HC-SR04-Ultrasonic-Rover/
bu kodlarda motoru çalıştırmıyor malesef 
hata kodlarınının olduğu derleme çıkışını buraya kopyalayın.
include <afmotor.h>
include <servo.h>
include <newping.h>
define TRIG_PIN A4 // Pin A4 on the Motor Drive Shield soldered to the ultrasonic sensor
define ECHO_PIN A5 // Pin A5 on the Motor Drive Shield soldered to the ultrasonic sensor
define MAX_DISTANCE 200 // sets maximum useable sensor measuring distance to 200cm
define MAX_SPEED 180 // sets speed of DC traction motors to 180/256 or about 70% of full speed - to get power drain down.
define MAX_SPEED_OFFSET 20 // this sets offset to allow for differences between the two DC traction motors
define COLL_DIST 10 // sets distance at which robot stops and reverses to 10cm
define TURN_DIST COLL_DIST+10 // sets distance at which robot veers away from object (not reverse) to 20cm (10+10)
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE); // sets up sensor library to use the correct pins to measure distance.
AF_DCMotor motor1(1, MOTOR12_1KHZ); // create motor 1 using M1 output on Motor Drive Shield, set to 1kHz PWM frequency
AF_DCMotor motor2(4, MOTOR12_1KHZ); // create motor 2, using M2 output, set to 1kHz PWM frequency
Servo myservo; // create servo object to control a servo
int pos = 0; // this sets up variables for use in the sketch (code)
int maxDist = 0;
int maxAngle = 0;
int maxRight = 0;
int maxLeft = 0;
int maxFront = 0;
int course = 0;
int curDist = 0;
String motorSet = “”;
int speedSet = 0;
//-------------------------------------------- SETUP LOOP ----------------------------------------------------------------------------
void setup() {
myservo.attach(9); // attaches the servo on pin 9 (SERVO_2 on the Motor Drive Shield to the servo object
myservo.write(90); // tells the servo to position at 90-degrees ie. facing forward.
delay(2000); // delay for two seconds
checkPath(); // run the CheckPath routine to find the best path to begin travel
motorSet = “FORWARD”; // set the director indicator variable to FORWARD
myservo.write(90); // make sure servo is still facing forward
moveForward(); // run function to make robot move forward
}
//------------------------------------------------------------------------------------------------------------------------------------
//---------------------------------------------MAIN LOOP ------------------------------------------------------------------------------
void loop() {
checkForward(); // check that if the robot is supposed to be moving forward, that the drive motors are set to move forward - this is needed to overcome some issues with only using 4 AA NiMH batteries
checkPath(); // set ultrasonic sensor to scan for any possible obstacles
}
//-------------------------------------------------------------------------------------------------------------------------------------
void checkPath() {
int curLeft = 0;
int curFront = 0;
int curRight = 0;
int curDist = 0;
myservo.write(144); // set servo to face left 54-degrees from forward
delay(120); // wait 120milliseconds for servo to reach position
for(pos = 144; pos >= 36; pos-=18) // loop to sweep the servo (& sensor) from 144-degrees left to 36-degrees right at 18-degree intervals.
{
myservo.write(pos); // tell servo to go to position in variable ‘pos’
delay(90); // wait 90ms for servo to get to position
checkForward(); // check the robot is still moving forward
curDist = readPing(); // get the current distance to any object in front of sensor
if (curDist < COLL_DIST) { // if the current distance to object is less than the collision distance
checkCourse(); // run the checkCourse function
break; // jump out of this loop
}
if (curDist < TURN_DIST) { // if current distance is less than the turn distance
changePath(); // run the changePath function
}
if (curDist > curDist) {maxAngle = pos;}
if (pos > 90 && curDist > curLeft) { curLeft = curDist;}
if (pos == 90 && curDist > curFront) {curFront = curDist;}
if (pos < 90 && curDist > curRight) {curRight = curDist;}
}
maxLeft = curLeft;
maxRight = curRight;
maxFront = curFront;
}
//-------------------------------------------------------------------------------------------------------------------------------------
void setCourse() { // set direction for travel based on a very basic distance map, simply which direction has the greatest distance to and object - turning right or left?
if (maxAngle < 90) {turnRight();}
if (maxAngle > 90) {turnLeft();}
maxLeft = 0;
maxRight = 0;
maxFront = 0;
}
//-------------------------------------------------------------------------------------------------------------------------------------
void checkCourse() { // we’re about to hit something so move backwards, stop, find where the empty path is.
moveBackward();
delay(500);
moveStop();
setCourse();
}
//-------------------------------------------------------------------------------------------------------------------------------------
void changePath() {
if (pos < 90) {veerLeft();} // if current pos of sensor is less than 90-degrees, it means the object is on the right hand side so veer left
if (pos > 90) {veerRight();} // if current pos of sensor is greater than 90-degrees, it means the object is on the left hand side so veer right
}
//-------------------------------------------------------------------------------------------------------------------------------------
int readPing() { // read the ultrasonic sensor distance
delay(70);
unsigned int uS = sonar.ping();
int cm = uS/US_ROUNDTRIP_CM;
return cm;
}
</newping.h></servo.h></afmotor.h>
//------------------------------------------------------------------------------------------------------------------------------------- void checkForward() { if (motorSet==“FORWARD”) {motor1.run(FORWARD); motor2.run(FORWARD); } } // make sure motors are going forward //------------------------------------------------------------------------------------------------------------------------------------- void checkBackward() { if (motorSet==“BACKWARD”) {motor1.run(BACKWARD); motor2.run(BACKWARD); } } // make sure motors are going backward //------------------------------------------------------------------------------------------------------------------------------------- // In some cases, the Motor Drive Shield may just stop if the supply voltage is too low (due to using only four NiMH AA cells). // The above functions simply remind the Shield that if it’s supposed to go forward, then make sure it is going forward and vice versa. //------------------------------------------------------------------------------------------------------------------------------------- void moveStop() {motor1.run(RELEASE); motor2.run(RELEASE);} // stop the motors. //------------------------------------------------------------------------------------------------------------------------------------- void moveForward() { motorSet = “FORWARD”; motor1.run(FORWARD); // turn it on going forward motor2.run(FORWARD); // turn it on going forward for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly { motor1.setSpeed(speedSet); motor2.setSpeed(speedSet+MAX_SPEED_OFFSET); delay(5); } } //------------------------------------------------------------------------------------------------------------------------------------- void moveBackward() { motorSet = “BACKWARD”; motor1.run(BACKWARD); // turn it on going forward motor2.run(BACKWARD); // turn it on going forward for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly { motor1.setSpeed(speedSet); motor2.setSpeed(speedSet+MAX_SPEED_OFFSET); delay(5); } } //------------------------------------------------------------------------------------------------------------------------------------- void turnRight() { motorSet = “RIGHT”; motor1.run(FORWARD); // turn motor 1 forward motor2.run(BACKWARD); // turn motor 2 backward delay(400); // run motors this way for 400ms motorSet = “FORWARD”; motor1.run(FORWARD); // set both motors back to forward motor2.run(FORWARD); } //------------------------------------------------------------------------------------------------------------------------------------- void turnLeft() { motorSet = “LEFT”; motor1.run(BACKWARD); // turn motor 1 backward motor2.run(FORWARD); // turn motor 2 forward delay(400); // run motors this way for 400ms motorSet = “FORWARD”; motor1.run(FORWARD); // turn it on going forward motor2.run(FORWARD); // turn it on going forward } //------------------------------------------------------------------------------------------------------------------------------------- void veerRight() {motor2.run(BACKWARD); delay(400); motor2.run(FORWARD);} // veering right? set right motor backwards for 400ms //------------------------------------------------------------------------------------------------------------------------------------- void veerLeft() {motor1.run(BACKWARD); delay(400); motor1.run(FORWARD);} // veering left? set left motor backwards for 400ms //-------------------------------------------------------------------------------------------------------------------------------------
Mrb aynı kodu kaynagı bende buldum ama calıstıramadım yardımcı olursanız seviniriz..
projelerinizde değişik sensor ve shieldleri aynı anda kullanırken çıkan hataları ayıklamak zor olur. önce sensoru tek başına çalıştıracak bir kod yazın sensor çalışıyormu onu bulun daha sonra motor shieldin kodlarını deneyin sonra bunların hepsini bırleştirin proje boyle yapılır, bir yerden komple kodu kopyalayıp çalışmasını beklemek hayalcilik olur. hatanıın oluştuğu açıklamalar da önemli kodu buraya kopyalamanın kımseye faydası yok zaten forum kod gösterımınıne uygun değil. projedekı ultrasonıc sensorun test kodunu yazın çalışıyormu? sensor onune engel cıktığında mesafe bılgısı duzgun gelıyormu yoksa hıcmı calışmıyor bunu bır deneyın.
hallettim sorunumu newping kütüphanesini arduino’ya ekleyince sorun kalmıyo.
newping kütüphanesini linkni buradan atabilir misiniz? yada projenizin sitesinii benimkinde hala sorun var yada suraya mail atarsanız sevinirim. harungurdal@gmail.com
ben eklemişim zaten motorlar senkronize olmuyor ayrıca servo motor bi süre sonra çalışmıyor
Ultrasonic sensör de mesafe aynı kaldıkça sürekli aynı değeri yazmasını istemiyorum. Sabit mesafede tek bir değer yazmasını istiyorum. Bunu moving avarage algoritmasıyla nasıl yapabilirim.