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Lesson 01
Lesson 01
Introduction to ESP32
Introduction to ESP32
Introduction to ESP32 Dev Board.pdfLesson 02
Lesson 02
Preparing PC to Program ESP32
Preparing PC to Program ESP32
Introduction to ESP32 Dev Board 02 - Preparing the IDE.pdfLesson 03
Lesson 03
Test Web Server using ESP32
Test Web Server using ESP32
IHDRCE-ESP32.pdfLesson 04
Lesson 04
Basic 4WD Robo Program using Different Sensors.
Basic 4WD Robo Program using Different Sensors.
Using IR Sensors for Arduino Board
Using IR Sensors for Arduino Board
int mr1=8; //motor right 1
int mr2=9; //motor right 2
int ml1=10; //motor left 1
int ml2=11; //motor left 2
int sr=6; //sensor right
int sl=7; //sensor left
int svr=0; // right sensor value
int svl=0; // left sensor value
int led=13; //buitn in led to test
int enr=3; //enable right motor
int enl=5; //enable left motor
int vspeed=100;
int tspeed=255;
int tdelay=20;
void setup()
{
pinMode(mr1,OUTPUT);
pinMode(mr2,OUTPUT);
pinMode(ml1,OUTPUT);
pinMode(ml2,OUTPUT);
pinMode(led,OUTPUT);
pinMode(sr,INPUT);
pinMode(sl,INPUT);
delay(5000);
}
void loop()
{
svr=digitalRead(sr);
svl=digitalRead(sl);
if(svl==LOW && svr==LOW)
{
forward(); //maju
}
if(svl==HIGH && svr==LOW)
{
left(); //belok kiri
}
if(svl==LOW && svr==HIGH)
{
right(); //belok kanan
}
if(svl==HIGH && svr==HIGH)
{
stop(); //berhenti
}
}
void forward()
{
digitalWrite(mr1,HIGH);
digitalWrite(mr2,LOW);
digitalWrite(ml1,HIGH);
digitalWrite(ml2,LOW);
analogWrite (enr,vspeed);
analogWrite (enl,vspeed);
}
void backward()
{
digitalWrite(mr1,LOW);
digitalWrite(mr2,HIGH);
digitalWrite(ml1,LOW);
digitalWrite(ml2,HIGH);
analogWrite (enr,vspeed);
analogWrite (enl,vspeed);
}
void right()
{
digitalWrite(mr1,LOW);
digitalWrite(mr2,HIGH);
digitalWrite(ml1,HIGH);
digitalWrite(ml2,LOW);
analogWrite (enr,tspeed);
analogWrite (enl,tspeed);
delay(tdelay);
}
void left()
{
digitalWrite(mr1,HIGH);
digitalWrite(mr2,LOW);
digitalWrite(ml1,LOW);
digitalWrite(ml2,HIGH);
analogWrite (enr,tspeed);
analogWrite (enl,tspeed);
delay(tdelay);
}
void stop()
{
analogWrite (enr,0);
analogWrite (enl,0);
}
Using IR Sensors and US Sensor for Arduino Board
Using IR Sensors and US Sensor for Arduino Board
#define enA 10//Enable1 L298 Pin enA
#define in1 9 //Motor1 L298 Pin in1
#define in2 8 //Motor1 L298 Pin in1
#define in3 7 //Motor2 L298 Pin in1
#define in4 6 //Motor2 L298 Pin in1
#define enB 5 //Enable2 L298 Pin enB
#define L_S A0 //ir sensor Left
#define R_S A1 //ir sensor Right
#define echo A2 //Echo pin
#define trigger A3 //Trigger pin
#define servo A5
int Set=15;
int distance_L, distance_F, distance_R;
void setup(){ // put your setup code here, to run once
Serial.begin(9600); // start serial communication at 9600bps
pinMode(R_S, INPUT); // declare if sensor as input
pinMode(L_S, INPUT); // declare ir sensor as input
pinMode(echo, INPUT );// declare ultrasonic sensor Echo pin as input
pinMode(trigger, OUTPUT); // declare ultrasonic sensor Trigger pin as Output
pinMode(enA, OUTPUT); // declare as output for L298 Pin enA
pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB
analogWrite(enA, 200); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed
analogWrite(enB, 200); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed
pinMode(servo, OUTPUT);
for (int angle = 70; angle <= 140; angle += 5) {
servoPulse(servo, angle); }
for (int angle = 140; angle >= 0; angle -= 5) {
servoPulse(servo, angle); }
for (int angle = 0; angle <= 70; angle += 5) {
servoPulse(servo, angle); }
distance_F = Ultrasonic_read();
delay(500);
}
void loop(){
//==============================================
// Line Follower and Obstacle Avoiding
//==============================================
distance_F = Ultrasonic_read();
Serial.print("D F=");Serial.println(distance_F);
//if Right Sensor and Left Sensor are at White color then it will call forword function
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){
if(distance_F > Set){forword();}
else{Check_side();}
}
//if Right Sensor is Black and Left Sensor is White then it will call turn Right function
else if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();}
//if Right Sensor is White and Left Sensor is Black then it will call turn Left function
else if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();}
delay(10);
}
void servoPulse (int pin, int angle){
int pwm = (angle*11) + 500; // Convert angle to microseconds
digitalWrite(pin, HIGH);
delayMicroseconds(pwm);
digitalWrite(pin, LOW);
delay(50); // Refresh cycle of servo
}
//**********************Ultrasonic_read****************************
long Ultrasonic_read(){
digitalWrite(trigger, LOW);
delayMicroseconds(2);
digitalWrite(trigger, HIGH);
delayMicroseconds(10);
long time = pulseIn (echo, HIGH);
return time / 29 / 2;
}
void compareDistance(){
if(distance_L > distance_R){
turnLeft();
delay(500);
forword();
delay(600);
turnRight();
delay(500);
forword();
delay(600);
turnRight();
delay(400);
}
else{
turnRight();
delay(500);
forword();
delay(600);
turnLeft();
delay(500);
forword();
delay(600);
turnLeft();
delay(400);
}
}
void Check_side(){
Stop();
delay(100);
for (int angle = 70; angle <= 140; angle += 5) {
servoPulse(servo, angle); }
delay(300);
distance_R = Ultrasonic_read();
Serial.print("D R=");Serial.println(distance_R);
delay(100);
for (int angle = 140; angle >= 0; angle -= 5) {
servoPulse(servo, angle); }
delay(500);
distance_L = Ultrasonic_read();
Serial.print("D L=");Serial.println(distance_L);
delay(100);
for (int angle = 0; angle <= 70; angle += 5) {
servoPulse(servo, angle); }
delay(300);
compareDistance();
}
void forword(){ //forword
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, HIGH); //Left Motor forword Pin
digitalWrite(in3, HIGH); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}
void backword(){ //backword
digitalWrite(in1, HIGH); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, HIGH); //Right Motor backword Pin
}
void turnRight(){ //turnRight
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, HIGH); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, HIGH); //Right Motor backword Pin
}
void turnLeft(){ //turnLeft
digitalWrite(in1, HIGH); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, HIGH); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}
void Stop(){ //stop
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}
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