Robot Arduino Pompier – Fire Fighter
| L298N driver Pins | Arduino Pins |
| ENA | 3 |
| IN1 | 12 |
| IN2 | 4 |
| IN3 | 7 |
| IN4 | 2 |
| ENB | 5 |
| L293 module pins | Arduino pins |
| 12v | 12v |
| GND | GND |
| 5v | 5v |
| EN1 | 5v |
| IN1 | GND |
| IN2 | 6 |
| Servo pins | Arduino pins |
| Vcc | 5v |
| GND | GND |
| Signal | 11 |
| Flame sensor module | Arduino pins |
| Vcc | 5v |
| GND | GND |
| DO (RIGHT) | 9 |
| DO (FORWARD) | 8 |
| DO (LEFT) | 10 |
Motoarele sunt conectate la bornele modulul driver motor L298N.
Driverul motorului are încă 3 borne, dintre care unul este conectat la 12V la baterie.
Terminalul GND este conectat la borna negativă a bateriei și este, de asemenea, conectat la pinul GND al plăcii Arduino,
iar 5V este conectat la 5V ai plăcii Arduino.
Exemplu Cod Arduino
#include <Servo.h> //include servo.h library
Servo myservo;
int pos = 0;
int motor_speed = 70;
boolean fire = false;
#define Left 9 // left sensor
#define Right 10 // right sensor
#define Forward 8 //front sensor
#define LM1 2 // left motor
#define LM2 7 // left motor
#define RM1 4 // right motor
#define RM2 12 // right motor
#define pump 6
void setup() {
pinMode(Left, INPUT);
pinMode(Right, INPUT);
pinMode(Forward, INPUT);
pinMode(LM1, OUTPUT);
pinMode(LM2, OUTPUT);
pinMode(RM1, OUTPUT);
pinMode(RM2, OUTPUT);
pinMode(pump, OUTPUT);
analogWrite(3, motor_speed);
analogWrite(5, motor_speed);
myservo.attach(11);
myservo.write(90);
}
void put_off_fire() {
delay (500);
digitalWrite(LM1, HIGH);
digitalWrite(LM2, HIGH);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, HIGH);
digitalWrite(pump, HIGH);
delay(500);
for (pos = 50; pos <= 130; pos += 1) {
myservo.write(pos);
delay(10);
}
for (pos = 130; pos >= 50; pos -= 1) {
myservo.write(pos);
delay(10);
}
digitalWrite(pump,LOW);
myservo.write(90);
fire=false;
}
void loop() {
myservo.write(90); //Sweep_Servo();
if (digitalRead(Left) ==1 && digitalRead(Right)==1 && digitalRead(Forward) ==1) {
digitalWrite(LM1, HIGH);
digitalWrite(LM2, HIGH);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, HIGH);
}
else if (digitalRead(Forward) ==0) {
digitalWrite(LM1, HIGH);
digitalWrite(LM2, LOW);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, LOW);
fire = true;
}
else if (digitalRead(Left) ==0) {
digitalWrite(LM1, HIGH);
digitalWrite(LM2, LOW);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, HIGH);
}
else if (digitalRead(Right) ==0) {
digitalWrite(LM1, HIGH);
digitalWrite(LM2, HIGH);
digitalWrite(RM1, HIGH);
digitalWrite(RM2, LOW);
}
delay(300);//change this value to increase the distance
while (fire == true) {
put_off_fire();
}
}
Module:
