Transporter (Karnaugh Map)

This is a line follower car able to transport small objects thanks to a loading platform.

Dec 6, 2019

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vallauri

cars

robots

Components and supplies

Jumper wires (generic)

Connector Adapter, DC Power - 2.1mm

SG90 Micro-servo motor

Batteries (18650 3,7V 4200mAh li-ion) & Charger

Arduino sensor shield V5.0 - Expansion board

L298N motor driver - H bridge

Ultrasonic Sensor - HC-SR04 (Generic)

DC motors & Wheels

Battery holder

ELEGOO UNO R3 Board ATmega328P ATMEGA16U2 with USB Cable

SparkFun RedBot Sensor - Line Follower

Various bolts (like screws, nuts, spacers)

Tools and machines

Drill / Driver, Cordless

3D Printer (generic)

Screwdrivers

Apps and platforms

Arduino IDE

Fritzing

Arduino reference

Draw.io

Project description

Code

Transporter code

c_cpp

This is the completed listing, loaded on the Elegoo board.

1#include <NewPing.h>
2#include <Servo.h>
3int in1 = 9;
4int in2  = 8;
5int in3 = 7;
6int in4 = 6;
7int EnD = 11;
8int EnS = 5;
9int LS  = 12;
10int CS = 4;
11int RS = 2;
12int velNor = 70;
13int velRot = 110;
14int  period1 = 50;
15int period2 = 120;
16int pos1 = 120;
17int pos2 = 60;
18#define  TRIGGER_PIN A5
19#define ECHO_PIN A4
20#define MAX_DISTANCE 200
21NewPing sonar(TRIGGER_PIN,  ECHO_PIN, MAX_DISTANCE);
22Servo SMA;
23
24void setup() {
25  pinMode(in1, OUTPUT);
26  pinMode(in2, OUTPUT);
27  pinMode(in3, OUTPUT);
28  pinMode(in4, OUTPUT);
29  pinMode(EnD, OUTPUT);
30  pinMode(EnS, OUTPUT);
31  pinMode(LS, INPUT);
32  pinMode(CS, INPUT);
33  pinMode(RS, INPUT);
34  SMA.attach(3);
35  SMA.write(pos1);
36}
37
38void  loop() {
39  while (sonar.ping_cm() < 20) {
40    SMA.write(pos1);
41    delay(period2);
42    SMA.write(pos2);
43    delay(period2);
44    digitalWrite(EnD, LOW);
45    digitalWrite(EnS,  LOW);
46    delay(period1);
47  }
48  SMA.write(pos1);
49  delay(period2);
50  SMA.write(pos2);
51  delay(period2);
52  if (digitalRead(LS) == LOW && digitalRead(CS)  == HIGH && digitalRead(RS) == LOW) {
53    analogWrite(EnD, velNor);
54    analogWrite(EnS,  velNor);
55    delay(period1);
56  }
57  else if (digitalRead(RS) == HIGH &&  digitalRead(LS) == LOW || digitalRead(RS) == LOW && digitalRead(LS) == HIGH) {
58    analogWrite(EnD, velRot);
59    analogWrite(EnS, velRot);
60    delay(period1);
61  }
62  digitalWrite(in1, digitalRead(LS) && digitalRead(RS));
63  digitalWrite(in2,  digitalRead(RS) && (digitalRead(LS) || digitalRead(CS)));
64  digitalWrite(in3,  digitalRead(LS) && (digitalRead(RS) || digitalRead(CS)));
65  digitalWrite(in4,  digitalRead(LS) && digitalRead(RS));
66  delay(period1);
67}
68

#include <NewPing.h>
#include <Servo.h>
int in1 = 9;
int in2  = 8;
int in3 = 7;
int in4 = 6;
int EnD = 11;
int EnS = 5;
int LS  = 12;
int CS = 4;
int RS = 2;
int velNor = 70;
int velRot = 110;
int  period1 = 50;
int period2 = 120;
int pos1 = 120;
int pos2 = 60;
#define  TRIGGER_PIN A5
#define ECHO_PIN A4
#define MAX_DISTANCE 200
NewPing sonar(TRIGGER_PIN,  ECHO_PIN, MAX_DISTANCE);
Servo SMA;

void setup() {
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(EnD, OUTPUT);
  pinMode(EnS, OUTPUT);
  pinMode(LS, INPUT);
  pinMode(CS, INPUT);
  pinMode(RS, INPUT);
  SMA.attach(3);
  SMA.write(pos1);
}

void  loop() {
  while (sonar.ping_cm() < 20) {
    SMA.write(pos1);
    delay(period2);
    SMA.write(pos2);
    delay(period2);
    digitalWrite(EnD, LOW);
    digitalWrite(EnS,  LOW);
    delay(period1);
  }
  SMA.write(pos1);
  delay(period2);
  SMA.write(pos2);
  delay(period2);
  if (digitalRead(LS) == LOW && digitalRead(CS)  == HIGH && digitalRead(RS) == LOW) {
    analogWrite(EnD, velNor);
    analogWrite(EnS,  velNor);
    delay(period1);
  }
  else if (digitalRead(RS) == HIGH &&  digitalRead(LS) == LOW || digitalRead(RS) == LOW && digitalRead(LS) == HIGH) {
    analogWrite(EnD, velRot);
    analogWrite(EnS, velRot);
    delay(period1);
  }
  digitalWrite(in1, digitalRead(LS) && digitalRead(RS));
  digitalWrite(in2,  digitalRead(RS) && (digitalRead(LS) || digitalRead(CS)));
  digitalWrite(in3,  digitalRead(LS) && (digitalRead(RS) || digitalRead(CS)));
  digitalWrite(in4,  digitalRead(LS) && digitalRead(RS));
  delay(period1);
}

Downloadable files

Connections scheme (.fzz file)