Clap Controlled Car

We have created a car controlled by claps with Arduino. It also stops when it impacts with something.

Dec 9, 2017

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stepper

sensor

cars

Components and supplies

Vibration Shock Switch Module

Microphone Amplifier Breakout

Arduino UNO

Stepper Motor

Jumper wires (generic)

Tools and machines

Laser cutter (generic)

Hot glue gun (generic)

Apps and platforms

Arduino IDE

Project description

Code

arduino

1#include <Stepper.h>
2#define STEPS_PER_MOTOR_REVOLUTION 32
3#define
4  STEPS_PER_OUTPUT_REVOLUTION 32 * 64/2
5Stepper small_stepper1(STEPS_PER_MOTOR_REVOLUTION,
6  10, 12 , 11, 13);
7Stepper small_stepper2(STEPS_PER_MOTOR_REVOLUTION, 6, 8, 7,
8  9);
9Stepper small_stepper3(STEPS_PER_MOTOR_REVOLUTION, 1, 4, 3, 5);
10
11int
12  sensorPin = A2;
13int pushButton = 2;
14int vib_pin = 2;
15int  Steps2Take;
16int
17  cont;
18long st;
19int StepRod1;
20int StepRod2;
21int StepRod3;
22
23boolean
24  choque = false;
25
26void setup() {
27  Serial.begin(9600);
28  pinMode(sensorPin,
29  INPUT);
30  pinMode(vib_pin, INPUT);
31  pinMode(StepRod3, OUTPUT);
32  cont
33  = 0;
34
35  attachInterrupt(digitalPinToInterrupt(2), choca, FALLING);
36}
37
38void
39  loop() {
40
41  if (digitalRead(sensorPin) == HIGH) {
42    delay(10);
43    if
44  (cont == 0)
45      st = millis();
46    cont = cont + 1;
47    while (digitalRead(sensorPin)
48  != LOW) {
49      if (millis() - st > 2000) {
50        Serial.print(cont);
51
52        Serial.println(" aplausos");
53
54        doOrders(cont);
55        cont
56  = 0;
57      }
58    }
59  }
60  if (millis() - st > 2000 && cont != 0) {
61
62    Serial.print(cont);
63    Serial.println(" aplausos");
64    doOrders(cont);
65
66    cont = 0;
67  }
68}
69
70
71void doOrders(int apl) {
72
73
74  if (cont
75  == 1) {
76    StepRod1 = HIGH;
77    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION
78  * 2 ; // Rotate CW 1 turn
79    small_stepper1.setSpeed(1000);
80    small_stepper2.setSpeed(1000);
81
82
83    Serial.println("Adelante");
84
85    StepRod2 = HIGH;
86
87    for (int
88  i = 0; i < Steps2Take; i++) {
89      small_stepper1.step(-1);
90      small_stepper2.step(1);
91
92
93      if (choque) {
94        brazo();
95        choque = false;
96        return;
97
98      }
99    }
100
101    StepRod3 = LOW;
102  }
103
104
105  if (cont == 2) {
106
107    StepRod2 = HIGH;
108    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; //
109  Rotate CW 1 turn
110    small_stepper2.setSpeed(1000);
111
112    Serial.println("Giro
113  1");
114    for (int i = 0; i < Steps2Take; i++) {
115      small_stepper2.step(1);
116
117
118      if (choque) {
119        brazo();
120        choque = false;
121        return;
122
123      }
124    }
125
126    StepRod1 = LOW;
127    StepRod3 = LOW;
128
129  }
130
131
132
133  if (cont == 3) {
134    StepRod1 = HIGH;
135    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION
136  * 2 ; // Rotate CW 1 turn
137    small_stepper1.setSpeed(1000);
138
139    Serial.println("Giro
140  2");
141
142    for (int i = 0; i < Steps2Take; i++) {
143      small_stepper1.step(-1);
144
145
146      if (choque) {
147        brazo();
148        choque = false;
149        return;
150
151      }
152    }
153
154    StepRod2 = LOW;
155    StepRod3 = LOW;
156  }
157
158}
159
160void
161  choca() {
162  choque = true;
163}
164
165
166void brazo() {
167
168  //digitalWrite(StepRod3,
169  HIGH);
170  //delay(500);
171
172  Serial.println("Brazo");
173
174  Steps2Take
175  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; // Rotate CW 1 turn
176  small_stepper3.setSpeed(1000);
177
178  small_stepper3.step(Steps2Take);
179
180}
181
182/*
183  if (moviPin = HIGH) {
184
185    StepRod1 = HIGH;
186    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; //
187  Rotate CW 1 turn
188    small_stepper1.setSpeed(1000);
189    small_stepper1.step(Steps2Take);
190
191
192    StepRod2 = LOW;
193    StepRod3 = LOW;
194  }*/
195

#include <Stepper.h>
#define STEPS_PER_MOTOR_REVOLUTION 32
#define
  STEPS_PER_OUTPUT_REVOLUTION 32 * 64/2
Stepper small_stepper1(STEPS_PER_MOTOR_REVOLUTION,
  10, 12 , 11, 13);
Stepper small_stepper2(STEPS_PER_MOTOR_REVOLUTION, 6, 8, 7,
  9);
Stepper small_stepper3(STEPS_PER_MOTOR_REVOLUTION, 1, 4, 3, 5);

int
  sensorPin = A2;
int pushButton = 2;
int vib_pin = 2;
int  Steps2Take;
int
  cont;
long st;
int StepRod1;
int StepRod2;
int StepRod3;

boolean
  choque = false;

void setup() {
  Serial.begin(9600);
  pinMode(sensorPin,
  INPUT);
  pinMode(vib_pin, INPUT);
  pinMode(StepRod3, OUTPUT);
  cont
  = 0;

  attachInterrupt(digitalPinToInterrupt(2), choca, FALLING);
}

void
  loop() {

  if (digitalRead(sensorPin) == HIGH) {
    delay(10);
    if
  (cont == 0)
      st = millis();
    cont = cont + 1;
    while (digitalRead(sensorPin)
  != LOW) {
      if (millis() - st > 2000) {
        Serial.print(cont);

        Serial.println(" aplausos");

        doOrders(cont);
        cont
  = 0;
      }
    }
  }
  if (millis() - st > 2000 && cont != 0) {

    Serial.print(cont);
    Serial.println(" aplausos");
    doOrders(cont);

    cont = 0;
  }
}


void doOrders(int apl) {


  if (cont
  == 1) {
    StepRod1 = HIGH;
    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION
  * 2 ; // Rotate CW 1 turn
    small_stepper1.setSpeed(1000);
    small_stepper2.setSpeed(1000);


    Serial.println("Adelante");

    StepRod2 = HIGH;

    for (int
  i = 0; i < Steps2Take; i++) {
      small_stepper1.step(-1);
      small_stepper2.step(1);


      if (choque) {
        brazo();
        choque = false;
        return;

      }
    }

    StepRod3 = LOW;
  }


  if (cont == 2) {

    StepRod2 = HIGH;
    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; //
  Rotate CW 1 turn
    small_stepper2.setSpeed(1000);

    Serial.println("Giro
  1");
    for (int i = 0; i < Steps2Take; i++) {
      small_stepper2.step(1);


      if (choque) {
        brazo();
        choque = false;
        return;

      }
    }

    StepRod1 = LOW;
    StepRod3 = LOW;

  }



  if (cont == 3) {
    StepRod1 = HIGH;
    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION
  * 2 ; // Rotate CW 1 turn
    small_stepper1.setSpeed(1000);

    Serial.println("Giro
  2");

    for (int i = 0; i < Steps2Take; i++) {
      small_stepper1.step(-1);


      if (choque) {
        brazo();
        choque = false;
        return;

      }
    }

    StepRod2 = LOW;
    StepRod3 = LOW;
  }

}

void
  choca() {
  choque = true;
}


void brazo() {

  //digitalWrite(StepRod3,
  HIGH);
  //delay(500);

  Serial.println("Brazo");

  Steps2Take
  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; // Rotate CW 1 turn
  small_stepper3.setSpeed(1000);

  small_stepper3.step(Steps2Take);

}

/*
  if (moviPin = HIGH) {

    StepRod1 = HIGH;
    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; //
  Rotate CW 1 turn
    small_stepper1.setSpeed(1000);
    small_stepper1.step(Steps2Take);


    StepRod2 = LOW;
    StepRod3 = LOW;
  }*/

Code

arduino

1#include <Stepper.h>
2#define STEPS_PER_MOTOR_REVOLUTION 32
3#define  STEPS_PER_OUTPUT_REVOLUTION 32 * 64/2
4Stepper small_stepper1(STEPS_PER_MOTOR_REVOLUTION,  10, 12 , 11, 13);
5Stepper small_stepper2(STEPS_PER_MOTOR_REVOLUTION, 6, 8, 7,  9);
6Stepper small_stepper3(STEPS_PER_MOTOR_REVOLUTION, 1, 4, 3, 5);
7
8int  sensorPin = A2;
9int pushButton = 2;
10int vib_pin = 2;
11int  Steps2Take;
12int  cont;
13long st;
14int StepRod1;
15int StepRod2;
16int StepRod3;
17
18boolean  choque = false;
19
20void setup() {
21  Serial.begin(9600);
22  pinMode(sensorPin,  INPUT);
23  pinMode(vib_pin, INPUT);
24  pinMode(StepRod3, OUTPUT);
25  cont  = 0;
26
27  attachInterrupt(digitalPinToInterrupt(2), choca, FALLING);
28}
29
30void  loop() {
31
32  if (digitalRead(sensorPin) == HIGH) {
33    delay(10);
34    if  (cont == 0)
35      st = millis();
36    cont = cont + 1;
37    while (digitalRead(sensorPin)  != LOW) {
38      if (millis() - st > 2000) {
39        Serial.print(cont);
40        Serial.println(" aplausos");
41
42        doOrders(cont);
43        cont  = 0;
44      }
45    }
46  }
47  if (millis() - st > 2000 && cont != 0) {
48    Serial.print(cont);
49    Serial.println(" aplausos");
50    doOrders(cont);
51    cont = 0;
52  }
53}
54
55
56void doOrders(int apl) {
57
58
59  if (cont  == 1) {
60    StepRod1 = HIGH;
61    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION  * 2 ; // Rotate CW 1 turn
62    small_stepper1.setSpeed(1000);
63    small_stepper2.setSpeed(1000);
64
65    Serial.println("Adelante");
66
67    StepRod2 = HIGH;
68
69    for (int  i = 0; i < Steps2Take; i++) {
70      small_stepper1.step(-1);
71      small_stepper2.step(1);
72
73      if (choque) {
74        brazo();
75        choque = false;
76        return;
77      }
78    }
79
80    StepRod3 = LOW;
81  }
82
83
84  if (cont == 2) {
85    StepRod2 = HIGH;
86    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; //  Rotate CW 1 turn
87    small_stepper2.setSpeed(1000);
88
89    Serial.println("Giro  1");
90    for (int i = 0; i < Steps2Take; i++) {
91      small_stepper2.step(1);
92
93      if (choque) {
94        brazo();
95        choque = false;
96        return;
97      }
98    }
99
100    StepRod1 = LOW;
101    StepRod3 = LOW;
102
103  }
104
105
106  if (cont == 3) {
107    StepRod1 = HIGH;
108    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION  * 2 ; // Rotate CW 1 turn
109    small_stepper1.setSpeed(1000);
110
111    Serial.println("Giro  2");
112
113    for (int i = 0; i < Steps2Take; i++) {
114      small_stepper1.step(-1);
115
116      if (choque) {
117        brazo();
118        choque = false;
119        return;
120      }
121    }
122
123    StepRod2 = LOW;
124    StepRod3 = LOW;
125  }
126
127}
128
129void  choca() {
130  choque = true;
131}
132
133
134void brazo() {
135
136  //digitalWrite(StepRod3,  HIGH);
137  //delay(500);
138
139  Serial.println("Brazo");
140
141  Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; // Rotate CW 1 turn
142  small_stepper3.setSpeed(1000);
143  small_stepper3.step(Steps2Take);
144
145}
146
147/*
148  if (moviPin = HIGH) {
149    StepRod1 = HIGH;
150    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; //  Rotate CW 1 turn
151    small_stepper1.setSpeed(1000);
152    small_stepper1.step(Steps2Take);
153
154    StepRod2 = LOW;
155    StepRod3 = LOW;
156  }*/
157

#include <Stepper.h>
#define STEPS_PER_MOTOR_REVOLUTION 32
#define  STEPS_PER_OUTPUT_REVOLUTION 32 * 64/2
Stepper small_stepper1(STEPS_PER_MOTOR_REVOLUTION,  10, 12 , 11, 13);
Stepper small_stepper2(STEPS_PER_MOTOR_REVOLUTION, 6, 8, 7,  9);
Stepper small_stepper3(STEPS_PER_MOTOR_REVOLUTION, 1, 4, 3, 5);

int  sensorPin = A2;
int pushButton = 2;
int vib_pin = 2;
int  Steps2Take;
int  cont;
long st;
int StepRod1;
int StepRod2;
int StepRod3;

boolean  choque = false;

void setup() {
  Serial.begin(9600);
  pinMode(sensorPin,  INPUT);
  pinMode(vib_pin, INPUT);
  pinMode(StepRod3, OUTPUT);
  cont  = 0;

  attachInterrupt(digitalPinToInterrupt(2), choca, FALLING);
}

void  loop() {

  if (digitalRead(sensorPin) == HIGH) {
    delay(10);
    if  (cont == 0)
      st = millis();
    cont = cont + 1;
    while (digitalRead(sensorPin)  != LOW) {
      if (millis() - st > 2000) {
        Serial.print(cont);
        Serial.println(" aplausos");

        doOrders(cont);
        cont  = 0;
      }
    }
  }
  if (millis() - st > 2000 && cont != 0) {
    Serial.print(cont);
    Serial.println(" aplausos");
    doOrders(cont);
    cont = 0;
  }
}


void doOrders(int apl) {


  if (cont  == 1) {
    StepRod1 = HIGH;
    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION  * 2 ; // Rotate CW 1 turn
    small_stepper1.setSpeed(1000);
    small_stepper2.setSpeed(1000);

    Serial.println("Adelante");

    StepRod2 = HIGH;

    for (int  i = 0; i < Steps2Take; i++) {
      small_stepper1.step(-1);
      small_stepper2.step(1);

      if (choque) {
        brazo();
        choque = false;
        return;
      }
    }

    StepRod3 = LOW;
  }


  if (cont == 2) {
    StepRod2 = HIGH;
    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; //  Rotate CW 1 turn
    small_stepper2.setSpeed(1000);

    Serial.println("Giro  1");
    for (int i = 0; i < Steps2Take; i++) {
      small_stepper2.step(1);

      if (choque) {
        brazo();
        choque = false;
        return;
      }
    }

    StepRod1 = LOW;
    StepRod3 = LOW;

  }


  if (cont == 3) {
    StepRod1 = HIGH;
    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION  * 2 ; // Rotate CW 1 turn
    small_stepper1.setSpeed(1000);

    Serial.println("Giro  2");

    for (int i = 0; i < Steps2Take; i++) {
      small_stepper1.step(-1);

      if (choque) {
        brazo();
        choque = false;
        return;
      }
    }

    StepRod2 = LOW;
    StepRod3 = LOW;
  }

}

void  choca() {
  choque = true;
}


void brazo() {

  //digitalWrite(StepRod3,  HIGH);
  //delay(500);

  Serial.println("Brazo");

  Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; // Rotate CW 1 turn
  small_stepper3.setSpeed(1000);
  small_stepper3.step(Steps2Take);

}

/*
  if (moviPin = HIGH) {
    StepRod1 = HIGH;
    Steps2Take  =  STEPS_PER_OUTPUT_REVOLUTION * 2 ; //  Rotate CW 1 turn
    small_stepper1.setSpeed(1000);
    small_stepper1.step(Steps2Take);

    StepRod2 = LOW;
    StepRod3 = LOW;
  }*/

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