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  • Author Author: a33333
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ARDUMOBO blog 5: Ardumobo - testing the system

a33333

Testing Ardumobo

In order to test Ardumobo, I wrote a small Arduino sketch that changes the direction of the robot when the distance to the obstacle is less than 10cm. Here is the code:

#include "HCSR04.h"
#include "DRI0017.h"

void setup() {
  // put your setup code here, to run once:
}

void loop() {
  // put your main code here, to run repeatedly:

  setupHCSR04();
  setupDRI0017();

  int frontDistance = 0;
  int rearDistance = 0;
  
  int moveDirection = Forward;
  

  while (1) {
    frontDistance = readFrontSensor();
    rearDistance = readRearSensor();

    if (frontDistance < 10){
      moveDirection = Backward; 
    } 
    
    if (rearDistance < 10) {
      moveDirection = Forward;  
    }
    
    if (moveDirection == Forward){
        setMotorDirection(M1, Forward);
        setMotorSpeed(M1, 100);
        delay(10);
        setMotorSpeed(M1, 70);
    } else {
        setMotorDirection(M1, Backward);
        setMotorSpeed(M1, 100);
        delay(10);
        setMotorSpeed(M1, 70);
    }
    delay(100);
  }
}

   

Here is a short movie of Ardumobo detecting obstacles in front and rear and then changing moving direction after obstacle detection. The front wheels are a bit wobbly, I will try to tighten them up and adjust the wheel alignment. (There is a plastic screw labeled "wheel adjustment" under the front wheel assembly of the truck: I will see if it works.)

Next blog: obstacle detection outdoors. 

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