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4WD MiniQ Complete Kit Introduction 4WD MiniQ mobile robot is especially designed for learning purpose. It comes fully assembled and all your need is a PC with Arduino IDE and 4xAA battery.

1 4WD MiniQ Complete Kit Introduction 4WD MiniQ mobile robot is especially designed for learning purpose. It comes fully assembled and all your need is a PC with Arduino IDE and 4xAA battery. The 4WD MiniQ has build-in encoders, 5 infrared line tracking sensor, 2 infrared trasmitter, 1 infrared receiver, two light sensors, 5 buttons and 1 buzzer. It is powered by most popular Atmega 328P which is fully compatible with Arduino. Pin Mapping Digital Pin 0: Digital Pin 1: Digital Pin 2:Encoder Digital Pin 3:Encoder Digital Pin 4:Left Motor Direction Pin Digital Pin 5:Left Motor Enable Pin Digital Pin 6:Right Motor Enable Pin Digital Pin 7:Right Motor Direction Pin Digital Pin 8:Infrared Receiver Digital Pin 9:Left Infared Transmitter Digital Pin 10:Right Infrared Transmitter

2 Digital Pin 11:Buzzer Digital Pin 12:Red LED Digital Pin 13:Green Led Analog Pin 0:Line tracking sensor Analog Pin 1:Line tracking sensor Analog Pin 2:Line tracking sensor Analog Pin 3:Line tracking sensor Analog Pin 4:Ambient Light sensor Analog Pin 5:Five Key buttons Analog Pin 6: Analog Pin 7:Line tracking sensor Program Your MiniQ Hardware required: 4xAA battery, Mini USB cable,miniq Mobile Robot Software Environment: Arduino IDE 0022 or latest version (Download) Operation System:Windows 32/64, Linux, Mac Driver: CP210x USB to UART Bridge VCP Drivers o Windows XP/Server 2003/Vista/7 o Linux (2.6.x and ), o Macintosh OSX (v2.7) Step 0 Before programming your MiniQ, make sure you have 4 charged AA battery installed. As the battery provides the power when programming. Step 1 Plug the USB cable,install the CP210x drivers based on you operating system. Your computer should find a serial port. Step 2 Press the PWR_On button on the MiniQ, you should see the blue light at the bottom of MiniQ. Step 3 Select "Arduino Nano/Atmega328 board" and upload the code as standard Arduino board.arduino Programming Tutorial

3 Sample Code Obstacle Avoidance Sample //DFRobot.com //MiniQ Sample Code //Obstacle avoidance //Version 1.0 //Last updated on 10th March 2011 #define EN1 6//Right Motor Enable Pin #define IN1 7//Right Motor Direction Pin #define EN2 5//Left Motor Enable Pin #define IN2 4//Left Motor Direction Pin #define FORW 1//Forward #define BACK 0//Backward #define IR_IN 8//Infrared Receiver (Digital Pin 8) #define L_IR 9//Left Infared Transmitter (Digital Pin 9) #define R_IR 10//Right Infrared Transmitter (Digital Pin 10) int count;//pulse counter void Motor_Control(int M1_DIR,int M1_EN,int M2_DIR,int M2_EN)//Motor control function //////////M1//////////////////////// if(m1_dir==forw)//set M1 Motor Direction digitalwrite(in1,high);//high, Rotate clockwise digitalwrite(in1,low);//low, Anti Rotate clockwise if(m1_en==0)//m1 Motor Speed analogwrite(en1,low);//low to stop miniq analogwrite(en1,m1_en); ///////////M2////////////////////// if(m2_dir==forw)//set M2 Motor Direction digitalwrite(in2,high);//high, Rotate clockwise digitalwrite(in2,low);//low, Anti Rotate clockwise if(m2_en==0) //M2 Motor Speed analogwrite(en2,low);//low to stop miniq analogwrite(en2,m2_en); void L_Send38KHZ(void)//Left Infrared transmitter generate 38kHZ pulse

4 Motor_Control(FORW,100,FORW,100);//Forward for(i=0;i<20;i++)//right infrared transmit Send 20 38khz pulse R_Send38KHZ(); if(count>20) digitalwrite(l_ir,high);//set the infrared to HIGH level delaymicroseconds(10);//delay 10 microsecond digitalwrite(l_ir,low);//set the infrared to HIGH level delaymicroseconds(10);//delay 10 microsecond void R_Send38KHZ(void)//Right Infrared transmitter generate 38kHZ pulse digitalwrite(r_ir,high);//set the infrared to HIGH level delaymicroseconds(10);//delay 10 microsecond digitalwrite(r_ir,low);//set the infrared to HIGH level delaymicroseconds(10);//delay 10 microsecond void pcint0_init(void)//init the interrupter PCICR = 0X01;// PCMSK0 = 0X01;// ISR(PCINT0_vect)// count++;//counting the received pulser void Obstacle_Avoidance(void) char i; for(i=0;i<20;i++)//left infrared transmit Send 20 38khz pulse L_Send38KHZ(); if(count>20)//if the counting is more than 10, there is obstacle avoidance count=0;//reset the counter Motor_Control(BACK,100,BACK,100);//Backward delay(500);//delay for 0.5 second Motor_Control(BACK,100,FORW,100);//Turn right delay(500);//delay for 0.5 second count=0; Motor_Control(BACK,100,BACK,100);//Backward

5 delay(500);//delay for 0.5 second Motor_Control(FORW,100,BACK,100);//turn left delay(500);//delay for 0.5 second Motor_Control(FORW,100,FORW,100);//Move forward void setup() char i; for(i=4;i<=7;i++)//configure the pin mode pinmode(i,output); pinmode(l_ir,output);//set the L_IR pin to output mode pinmode(r_ir,output);//set the R_IR pin to output mode pinmode(ir_in,input);//set the IR receiver pin to input mode pcint0_init();//init the interrupter sei(); //Enable the interrupter void loop() Motor_Control(FORW,180,FORW,180);//Set the speed while(1) Obstacle_Avoidance();//Obstacle avoidance IR Remote Control //DFRobot.com //MiniQ Sample Code //Obstacle avoidance //Version 1.0 //Last updated on 10th March 2011 #define EN1 6//Right Motor Enable Pin #define IN1 7//Right Motor Direction Pin #define EN2 5//Left Motor Enable Pin #define IN2 4//Left Motor Direction Pin #define FORW 1//Forward #define BACK 0//Backward #define IR_IN 8//Infrared Receiver (Digital Pin 8)

6 int Pulse_Width=0;// 存储脉宽 int ir_code=0x00; // 命令值 void Motor_Control(int M1_DIR,int M1_EN,int M2_DIR,int M2_EN)//Motor control function //////////M1//////////////////////// if(m1_dir==forw)//m1 电机方向 digitalwrite(in1,high);// 置高, 设置方向向前 digitalwrite(in1,low);// 置低, 设置方向向后 if(m1_en==0)//m1 电机速度 analogwrite(en1,low);// 置低,miniQ 停止 analogwrite(en1,m1_en);// 否则, 就设置相应的数值 ///////////M2////////////////////// if(m2_dir==forw)//m2 电机的方向 digitalwrite(in2,high);// 置高, 方向向前 digitalwrite(in2,low);// 置低, 方向想后 if(m2_en==0) //M2 电机的速度 analogwrite(en2,low);// 置低, 停止 analogwrite(en2,m2_en); // 设置给定的数值 /*********************** 定时器 / 计数器 1 初始化函数 ***************************/ /* 函数功能 : 将定时器 / 计数器设置为计时功能 /* 函数参数 :void /* 函数返回值 :void /*********************** 定时器 1 初始化函数 *********************************/ void timer1_init(void) TCCR1A = 0X00; TCCR1B = 0X05;// 给定时器时钟源 TCCR1C = 0X00; TCNT1 = 0X00; TIMSK1 = 0X00; // 禁止定时器溢出中断 /********************** 遥控器命令执行函数 *********************************/ /* 函数功能 : 根据遥控器命令, 小车执行相应的动作 /* 函数参数 :void /* 函数返回值 :void

7 /********************** 遥控器命令执行函数 *********************************/ void remote_deal(void) switch(ir_code) case 0xff00: Motor_Control(FORW,0,FORW,0);// 停止 break; case 0xfe01: Motor_Control(FORW,100,FORW,100);// 前进 break; case 0xf609: Motor_Control(BACK,100,BACK,100);// 后退 break; case 0xfb04: Motor_Control(FORW,100,BACK,100);// 左转 break; case 0xf906: Motor_Control(BACK,100,FORW,100);// 右转 110 break; char logic_value() while(!(digitalread(8))); // 低等待 118 Pulse_Width=TCNT1; TCNT1=0; 121 if(pulse_width>=7&&pulse_width<=10)// 低电平 560us while(digitalread(8));// 是高就等待 125 Pulse_Width=TCNT1; 126 TCNT1=0; if(pulse_width>=7&&pulse_width<=10)// 接着高电平 560us 129 return 0; 130 if(pulse_width>=25&&pulse_width<=27) // 接着高电平 1.7ms 131 return 1; return -1; /******************* 遥控器解码处理函数 **************************/ /* 函数功能 : 当引导码接收正确后再对接收到的脉冲编码进行处理 141 计算出 ir_code 的值 142 /* 函数参数 :void /* 函数返回值 :void /******************* 遥控器解码函数 **************************/ void pulse_deal()

8 int i; // 执行 8 个 for(i=0; i<8; i++) if(logic_value()!= 0) // 不是 return; // 执行 6 个 for(i=0; i<6; i++) if(logic_value()!= 1) // 不是 return; // 执行 1 个 if(logic_value()!= 0) // 不是 return; 172 // 执行 1 个 if(logic_value()!= 1) // 不是 return; // 解析遥控器编码中的 command 指令 180 ir_code=0x00;// 清零 181 for(i=0; i<16;i++ ) if(logic_value() == 1) ir_code =(1<<i); /******************* 遥控器解码函数 **************************/ /* 函数功能 : 对接收到的脉冲进行解码 196 /* 函数参数 :void /* 函数返回值 :void /******************* 遥控器解码函数 **************************/ void remote_decode(void) TCNT1=0X00; 205 while(digitalread(8))// 是高就等待 if(tcnt1>=1563) // 当高电平持续时间超过 100ms, 表明此时没有按键按下 ir_code = 0xff00; 212 return;

9 // 如果高电平持续时间不超过 100ms TCNT1=0X00; while(!(digitalread(8))); // 低等待 Pulse_Width=TCNT1; TCNT1=0; if(pulse_width>=140&&pulse_width<=141)//9ms while(digitalread(8));// 是高就等待 Pulse_Width=TCNT1; TCNT1=0; if(pulse_width>=68&&pulse_width<=72)//4.5ms pulse_deal(); return; if(pulse_width>=34&&pulse_width<=36)//2.25ms while(!(digitalread(8)));// 低等待 Pulse_Width=TCNT1; TCNT1=0; if(pulse_width>=7&&pulse_width<=10)//560us return; void setup() unsigned char i; for(i=4;i<=7;i++) pinmode(i,output); pinmode(ir_in,input); void loop() timer1_init();// 定时器函数初始化 while(1) remote_decode(); // 译码 remote_deal(); // 执行译码结果

10 Line Tracking Sample //DFRobot.com //MiniQ Sample Code //Line tracking //Version 1.0 //Last updated on 10th March 2011 #define EN1 6//Right Motor Enable Pin #define IN1 7//Right Motor Direction Pin #define EN2 5//Left Motor Enable Pin #define IN2 4//Left Motor Direction Pin #define FORW 1//Forward #define BACK 0//Backward #define BUZZER 11//The buzzer is connected to Digital Pin 11 #define LED_RED 12//Red LED is connected to Digital Pin 12 #define LED_GREEN 13//Green LED is connected to Digital Pin 13 #define Vr 5//Reference 5V voltage float data[8]= 0X00,0X00,0X00,0X00,0x00,0xff,0x00,0x00;//Array to store 8 ADC value unsigned char value[5]= 0x00,0x00,0x00,0x00,0x00;//5 line sensor data unsigned char key_1=0x00;// 对按键 1 按下的次数进行计数 void Motor_Control(int M1_DIR,int M1_EN,int M2_DIR,int M2_EN)//Motor control function //////////M1//////////////////////// if(m1_dir==forw)//set M1 Motor Direction digitalwrite(in1,high);//high, Rotate clockwise digitalwrite(in1,low);//low, Anti Rotate clockwise if(m1_en==0)//m1 Motor Speed analogwrite(en1,low);//low to stop miniq analogwrite(en1,m1_en); ///////////M2////////////////////// if(m2_dir==forw)//set M2 Motor Direction digitalwrite(in2,high);//high, Rotate clockwise

11 digitalwrite(in2,low);//low, Anti Rotate clockwise if(m2_en==0) //M2 Motor Speed analogwrite(en2,low);//low to stop miniq analogwrite(en2,m2_en); void Read_Value(void)// 读取模拟值 char i; for(i=0;i<8;i++) data[i]=analogread(i);// 读取模拟 i 口的电压值 data[i]= ((data[i]*vr)/1024); // 转换成模拟值 huntline_deal();//line tracking void huntline_deal(void)//line tracking function if(key_1==6) if(data[0]>(value[0]-1)&&data[1]>(value[1]-1)&&data[2]<(value[2]-1)&&data[3]>(value the line sensor value Motor_Control(FORW,100,FORW,100);//move forward if(data[0]>(value[0]-1)&&data[1]>(value[1]-1)&&data[2]<(value[2]-1)&&data[3]<( Motor_Control(BACK,50,FORW,100);// 右转 if(data[0]>(value[0]-1)&&data[1]>(value[1]-1)&&data[2]>(value[2]-1)&&data[3]<( Motor_Control(BACK,100,FORW,100);// 快速右转 if(data[0]>(value[0]-1)&&data[1]>(value[1]-1)&&data[2]>(value[2]-1)&&data[3]<( Motor_Control(BACK,100,FORW,100);// 快速右转 if(data[0]>(value[0]-1)&&data[1]>(value[1]-1)&&data[2]>(value[2]-1)&&data[3]>( Motor_Control(BACK,100,FORW,100);// 快速右转 if(data[0]>(value[0]-1)&&data[1]<(value[1]-1)&&data[2]<(value[2]-1)&&data[3]>( Motor_Control(FORW,100,BACK,50);// 左转 if(data[0]>(value[0]-1)&&data[1]<(value[1]-1)&&data[2]>(value[2]-1)&&data[3]>( Motor_Control(FORW,100,BACK,100);// 快速左转

12 if(data[0]<(value[0]-1)&&data[1]<(value[1]-1)&&data[2]>(value[2]-1)&&data[3]>( Motor_Control(FORW,100,BACK,100);// 快速左转 if(data[0]<(value[0]-1)&&data[1]>(value[1]-1)&&data[2]>(value[2]-1)&&data[3]>( Motor_Control(FORW,100,BACK,100);// 快速左转 void key_scan(void)// 按键扫描 if(data[5]>4.50&&data[5]<6.00)// 没有按键按下 138 return;// 返回 if(data[5]>=0.00&&data[5]<0.50)// 按键 1 按下 delay(180);// 延时消抖 146 if(data[5]>=0.00&&data[5]<0.50)// 按键 1 确实按下 buzzer();// 蜂鸣器响 150 key_1++;// 按键 1 计数 151 if(key_1>=1&&key_1<=5) value_adjust(key_1);// 寻线传感器的值调整 152 if(key_1==6) digitalwrite(led_red,low);// 红灯灭 156 digitalwrite(led_green,low);// 绿灯灭 if(data[5]>=0.50&&data[5]<2.00) delay(180);// 延时消抖 165 if(data[5]>=0.50&&data[5]<2.00) if(key_1>=1&&key_1<=5)// 如果 key1 的按键值在 1~5 之间 buzzer();// 蜂鸣器响 172 value[key_1-1]++;// 传感器的分辨轨迹的界限值加加 ( 调整 ) 173 value_adjust(key_1);// 跟实际值对比 if(data[5]>=2.00&&data[5]<3.00) delay(180);// 延时消抖 182 if(data[5]>=2.00&&data[5]<3.00) 183

13 void value_adjust(unsigned char num)// 调整寻线传感器的值 if(num==1)// 调节第一个寻线传感器 if(data[0]>value[0]) digitalwrite(led_red,high); // 当前值小红灯亮 207 digitalwrite(led_green,low); if(key_1>=1&&key_1<=5)// 如果按键 key1 的值在 1~5 之间 buzzer();// 蜂鸣器响 value[key_1-1]--;// 传感器的分辨轨迹的界限值减减 ( 调整 ) value_adjust(key_1);// 跟实际值对比 digitalwrite(led_red,low); digitalwrite(led_green,high);// 绿灯亮 if(num==2)// 调节第二个寻线传感器 if(data[1]>value[1]) digitalwrite(led_red,high); // 当前值小红灯亮 digitalwrite(led_green,low); digitalwrite(led_red,low); digitalwrite(led_green,high);// 绿灯亮 if(num==3)// 调节第三个寻线传感器 if(data[2]>value[2]) digitalwrite(led_red,high); // 当前值小红灯亮 digitalwrite(led_green,low); digitalwrite(led_red,low);

14 248 digitalwrite(led_green,high);// 绿灯亮 249 if(num==4)// 调节第四个寻线传感器 if(data[3]>value[3]) digitalwrite(led_red,high); // 当前值小红灯亮 digitalwrite(led_green,low); digitalwrite(led_red,low); digitalwrite(led_green,high);// 绿灯亮 if(num==5)// 调节第五个寻线传感器 if(data[4]>value[4]) digitalwrite(led_red,high); // 当前值小红灯亮 digitalwrite(led_green,low); digitalwrite(led_red,low); digitalwrite(led_green,high);// 绿灯亮 void buzzer(void)// 蜂鸣器发出一种声音 digitalwrite(buzzer,high);// 置高, 蜂鸣器响 delay(1); digitalwrite(buzzer,low);// 置低, 蜂鸣器不响 delay(10); void setup() char i; for(i=4;i<=7;i++)// 设置连接两组电机的端口为输出模式 pinmode(i,output); pinmode(buzzer,output);// 设置控制蜂鸣器的数字 IO 脚模式,OUTPUT 为输出 pinmode(led_red,output);// 设置控制红色 LED 灯的数字 IO 脚模式,OUTPUT 为输出 pinmode(led_green,output);// 设置控制绿色 LED 灯的数字 IO 脚模式,OUTPUT 为输出 void loop()

15 Motor_Control(FORW,0,FORW,0);// 小车停止 while(1) Read_Value();// 读取模拟口的值 key_scan();// 扫描按键

AN INTRODUCTION TO PHYSICAL COMPUTING USING ARDUINO, GRASSHOPPER, AND FIREFLY (CHINESE EDITION ) INTERACTIVE PROTOTYPING

AN INTRODUCTION TO PHYSICAL COMPUTING USING ARDUINO, GRASSHOPPER, AND FIREFLY (CHINESE EDITION ) INTERACTIVE PROTOTYPING 前言 - Andrew Payne 目录 1 2 Firefly Basics 3 COMPONENT TOOLBOX 目录 4 RESOURCES 致谢