Mini AGV as a Gas Decomposer using Fan with PID Control

This robot walks along the trajectory that has been provided and acts as a building security guard from gas leaks.

Feb 24, 2022

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Devices & Components

Arduino Uno Rev3

IR Range Sensor

Dual H-Bridge motor drivers L298

Solderless Breadboard Half Size

Battery Holder, 18650 x 2

DC Motor, 12 V

Jumper wires (generic)

Rocker Switch, SPST

Grove - Gas Sensor(MQ2)

Axial Fan, 5 V

Hardware & Tools

Solder Wire, Lead Free

Multitool, Screwdriver

Software & Tools

Arduino IDE

Project description

Code

Automated Guided Vehicle (AGV) as a Gas Decomposer using P Controlled Fan

arduino

1#define MQ2pin (0)
2
3int kanan1 = 4;
4int kanan2 = 6;
5int kiri1   = 7;
6int kiri2 = 8;
7int enA= 11;
8int enB= 3;
9int setpoint = 300;
10int   INA = 5;
11int INB = 12;
12float kp = 0.2;
13float error, p, pid;
14int sensorValue;
15
16int   IR1=9;   //kanan
17int IR2=10;   //kiri
18
19int speed = 70;
20int speed2 =   150;
21
22void setup(){
23  Serial.begin(9600);
24  pinMode(kanan1,OUTPUT);
25   pinMode(kanan2,OUTPUT);
26  pinMode(kiri1,OUTPUT);
27  pinMode(kiri2,OUTPUT);
28   pinMode(enA,OUTPUT);
29  pinMode(enB,OUTPUT);
30  pinMode(IR1,INPUT);
31  pinMode(IR2,INPUT);
32   pinMode(INA, OUTPUT);
33  pinMode(INB, OUTPUT);
34  Serial.begin(9600);
35}
36
37void   loop(){
38  int s1=digitalRead(9);
39  int s2=digitalRead(10);
40  sensorValue   = analogRead(MQ2pin);
41  Serial.print("GAS : ");
42  Serial.print(sensorValue);
43   Serial.println(" ppm");
44  delay(10);
45  error = setpoint - sensorValue   ;
46  p = error * kp;
47//  pid = setpoint - p;
48  if(p<=0){
49    p = 0;
50   }
51
52  if (sensorValue > 300) {
53    berhenti();
54    for(int p = 0; p   < 255; p++){
55      analogWrite(INA, p);
56      digitalWrite(INB, LOW);
57       delay(10);
58    }
59  } else if (sensorValue < 300) {
60    for(int p   = 255; p > 0; p--){
61      digitalWrite(INA, LOW);
62      digitalWrite(INB,   LOW);
63    }
64    //LURUS
65    if(s1==LOW && s2==LOW)
66    {
67      maju();
68     }
69    //KANAN
70    else if(s1==LOW&&s2==HIGH)
71    {
72      kanan();
73     }
74    //KIRI
75    else if(s1==HIGH&&s2==LOW)
76    {
77      kiri();
78     }
79    //BERHENTI
80    else
81    {
82      berhenti();
83    }
84  }
85}
86
87void   maju() {
88  Serial.println("maju");
89  digitalWrite(kanan1, HIGH);
90  digitalWrite(kanan2,   LOW);
91  analogWrite (enA, speed);
92  digitalWrite(kiri1, HIGH);
93  digitalWrite(kiri2,   LOW);
94  analogWrite (enB, speed);
95  digitalWrite(INA, LOW);
96  digitalWrite(INB,   LOW);
97}
98
99void kanan() {
100  digitalWrite(kanan1, HIGH);
101  digitalWrite(kanan2,   LOW);
102  analogWrite (enA, speed2);
103  digitalWrite(kiri1, LOW);
104  digitalWrite(kiri2,   LOW);
105}
106
107void kiri() {
108  digitalWrite(kanan1, LOW);
109  digitalWrite(kanan2,   LOW);
110  digitalWrite(kiri1, HIGH);
111  digitalWrite(kiri2, LOW);
112  analogWrite   (enB, speed2);
113}
114
115
116void berhenti() {
117  digitalWrite(kanan1, LOW);
118   digitalWrite(kanan2, LOW);
119  digitalWrite(kiri1, LOW);
120  digitalWrite(kiri2,   LOW);
121}
122

#define MQ2pin (0)

int kanan1 = 4;
int kanan2 = 6;
int kiri1   = 7;
int kiri2 = 8;
int enA= 11;
int enB= 3;
int setpoint = 300;
int   INA = 5;
int INB = 12;
float kp = 0.2;
float error, p, pid;
int sensorValue;

int   IR1=9;   //kanan
int IR2=10;   //kiri

int speed = 70;
int speed2 =   150;

void setup(){
  Serial.begin(9600);
  pinMode(kanan1,OUTPUT);
   pinMode(kanan2,OUTPUT);
  pinMode(kiri1,OUTPUT);
  pinMode(kiri2,OUTPUT);
   pinMode(enA,OUTPUT);
  pinMode(enB,OUTPUT);
  pinMode(IR1,INPUT);
  pinMode(IR2,INPUT);
   pinMode(INA, OUTPUT);
  pinMode(INB, OUTPUT);
  Serial.begin(9600);
}

void   loop(){
  int s1=digitalRead(9);
  int s2=digitalRead(10);
  sensorValue   = analogRead(MQ2pin);
  Serial.print("GAS : ");
  Serial.print(sensorValue);
   Serial.println(" ppm");
  delay(10);
  error = setpoint - sensorValue   ;
  p = error * kp;
//  pid = setpoint - p;
  if(p<=0){
    p = 0;
   }

  if (sensorValue > 300) {
    berhenti();
    for(int p = 0; p   < 255; p++){
      analogWrite(INA, p);
      digitalWrite(INB, LOW);
       delay(10);
    }
  } else if (sensorValue < 300) {
    for(int p   = 255; p > 0; p--){
      digitalWrite(INA, LOW);
      digitalWrite(INB,   LOW);
    }
    //LURUS
    if(s1==LOW && s2==LOW)
    {
      maju();
     }
    //KANAN
    else if(s1==LOW&&s2==HIGH)
    {
      kanan();
     }
    //KIRI
    else if(s1==HIGH&&s2==LOW)
    {
      kiri();
     }
    //BERHENTI
    else
    {
      berhenti();
    }
  }
}

void   maju() {
  Serial.println("maju");
  digitalWrite(kanan1, HIGH);
  digitalWrite(kanan2,   LOW);
  analogWrite (enA, speed);
  digitalWrite(kiri1, HIGH);
  digitalWrite(kiri2,   LOW);
  analogWrite (enB, speed);
  digitalWrite(INA, LOW);
  digitalWrite(INB,   LOW);
}

void kanan() {
  digitalWrite(kanan1, HIGH);
  digitalWrite(kanan2,   LOW);
  analogWrite (enA, speed2);
  digitalWrite(kiri1, LOW);
  digitalWrite(kiri2,   LOW);
}

void kiri() {
  digitalWrite(kanan1, LOW);
  digitalWrite(kanan2,   LOW);
  digitalWrite(kiri1, HIGH);
  digitalWrite(kiri2, LOW);
  analogWrite   (enB, speed2);
}


void berhenti() {
  digitalWrite(kanan1, LOW);
   digitalWrite(kanan2, LOW);
  digitalWrite(kiri1, LOW);
  digitalWrite(kiri2,   LOW);
}

Automated Guided Vehicle (AGV) as a Gas Decomposer using P Controlled Fan

arduino

1#define MQ2pin (0)
2
3int kanan1 = 4;
4int kanan2 = 6;
5int kiri1  = 7;
6int kiri2 = 8;
7int enA= 11;
8int enB= 3;
9int setpoint = 300;
10int  INA = 5;
11int INB = 12;
12float kp = 0.2;
13float error, p, pid;
14int sensorValue;
15
16int  IR1=9;   //kanan
17int IR2=10;   //kiri
18
19int speed = 70;
20int speed2 =  150;
21
22void setup(){
23  Serial.begin(9600);
24  pinMode(kanan1,OUTPUT);
25  pinMode(kanan2,OUTPUT);
26  pinMode(kiri1,OUTPUT);
27  pinMode(kiri2,OUTPUT);
28  pinMode(enA,OUTPUT);
29  pinMode(enB,OUTPUT);
30  pinMode(IR1,INPUT);
31  pinMode(IR2,INPUT);
32  pinMode(INA, OUTPUT);
33  pinMode(INB, OUTPUT);
34  Serial.begin(9600);
35}
36
37void  loop(){
38  int s1=digitalRead(9);
39  int s2=digitalRead(10);
40  sensorValue  = analogRead(MQ2pin);
41  Serial.print("GAS : ");
42  Serial.print(sensorValue);
43  Serial.println(" ppm");
44  delay(10);
45  error = setpoint - sensorValue  ;
46  p = error * kp;
47//  pid = setpoint - p;
48  if(p<=0){
49    p = 0;
50  }
51
52  if (sensorValue > 300) {
53    berhenti();
54    for(int p = 0; p  < 255; p++){
55      analogWrite(INA, p);
56      digitalWrite(INB, LOW);
57      delay(10);
58    }
59  } else if (sensorValue < 300) {
60    for(int p  = 255; p > 0; p--){
61      digitalWrite(INA, LOW);
62      digitalWrite(INB,  LOW);
63    }
64    //LURUS
65    if(s1==LOW && s2==LOW)
66    {
67      maju();
68    }
69    //KANAN
70    else if(s1==LOW&&s2==HIGH)
71    {
72      kanan();
73    }
74    //KIRI
75    else if(s1==HIGH&&s2==LOW)
76    {
77      kiri();
78    }
79    //BERHENTI
80    else
81    {
82      berhenti();
83    }
84  }
85}
86
87void  maju() {
88  Serial.println("maju");
89  digitalWrite(kanan1, HIGH);
90  digitalWrite(kanan2,  LOW);
91  analogWrite (enA, speed);
92  digitalWrite(kiri1, HIGH);
93  digitalWrite(kiri2,  LOW);
94  analogWrite (enB, speed);
95  digitalWrite(INA, LOW);
96  digitalWrite(INB,  LOW);
97}
98
99void kanan() {
100  digitalWrite(kanan1, HIGH);
101  digitalWrite(kanan2,  LOW);
102  analogWrite (enA, speed2);
103  digitalWrite(kiri1, LOW);
104  digitalWrite(kiri2,  LOW);
105}
106
107void kiri() {
108  digitalWrite(kanan1, LOW);
109  digitalWrite(kanan2,  LOW);
110  digitalWrite(kiri1, HIGH);
111  digitalWrite(kiri2, LOW);
112  analogWrite  (enB, speed2);
113}
114
115
116void berhenti() {
117  digitalWrite(kanan1, LOW);
118  digitalWrite(kanan2, LOW);
119  digitalWrite(kiri1, LOW);
120  digitalWrite(kiri2,  LOW);
121}
122

#define MQ2pin (0)

int kanan1 = 4;
int kanan2 = 6;
int kiri1  = 7;
int kiri2 = 8;
int enA= 11;
int enB= 3;
int setpoint = 300;
int  INA = 5;
int INB = 12;
float kp = 0.2;
float error, p, pid;
int sensorValue;

int  IR1=9;   //kanan
int IR2=10;   //kiri

int speed = 70;
int speed2 =  150;

void setup(){
  Serial.begin(9600);
  pinMode(kanan1,OUTPUT);
  pinMode(kanan2,OUTPUT);
  pinMode(kiri1,OUTPUT);
  pinMode(kiri2,OUTPUT);
  pinMode(enA,OUTPUT);
  pinMode(enB,OUTPUT);
  pinMode(IR1,INPUT);
  pinMode(IR2,INPUT);
  pinMode(INA, OUTPUT);
  pinMode(INB, OUTPUT);
  Serial.begin(9600);
}

void  loop(){
  int s1=digitalRead(9);
  int s2=digitalRead(10);
  sensorValue  = analogRead(MQ2pin);
  Serial.print("GAS : ");
  Serial.print(sensorValue);
  Serial.println(" ppm");
  delay(10);
  error = setpoint - sensorValue  ;
  p = error * kp;
//  pid = setpoint - p;
  if(p<=0){
    p = 0;
  }

  if (sensorValue > 300) {
    berhenti();
    for(int p = 0; p  < 255; p++){
      analogWrite(INA, p);
      digitalWrite(INB, LOW);
      delay(10);
    }
  } else if (sensorValue < 300) {
    for(int p  = 255; p > 0; p--){
      digitalWrite(INA, LOW);
      digitalWrite(INB,  LOW);
    }
    //LURUS
    if(s1==LOW && s2==LOW)
    {
      maju();
    }
    //KANAN
    else if(s1==LOW&&s2==HIGH)
    {
      kanan();
    }
    //KIRI
    else if(s1==HIGH&&s2==LOW)
    {
      kiri();
    }
    //BERHENTI
    else
    {
      berhenti();
    }
  }
}

void  maju() {
  Serial.println("maju");
  digitalWrite(kanan1, HIGH);
  digitalWrite(kanan2,  LOW);
  analogWrite (enA, speed);
  digitalWrite(kiri1, HIGH);
  digitalWrite(kiri2,  LOW);
  analogWrite (enB, speed);
  digitalWrite(INA, LOW);
  digitalWrite(INB,  LOW);
}

void kanan() {
  digitalWrite(kanan1, HIGH);
  digitalWrite(kanan2,  LOW);
  analogWrite (enA, speed2);
  digitalWrite(kiri1, LOW);
  digitalWrite(kiri2,  LOW);
}

void kiri() {
  digitalWrite(kanan1, LOW);
  digitalWrite(kanan2,  LOW);
  digitalWrite(kiri1, HIGH);
  digitalWrite(kiri2, LOW);
  analogWrite  (enB, speed2);
}


void berhenti() {
  digitalWrite(kanan1, LOW);
  digitalWrite(kanan2, LOW);
  digitalWrite(kiri1, LOW);
  digitalWrite(kiri2,  LOW);
}

Downloadable files

Wiring Diagram

We use in Proteus Software

Wiring Diagram

We use in Proteus Software

Wiring Diagram

Documentation

Mechanical Design of Automated Guided Vehicle (AGV) as a Gas Decomposer using P Controlled Fan

I use Solidworks software

Mechanical Design of Automated Guided Vehicle (AGV) as a Gas Decomposer using P Controlled Fan

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