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DFRobot ROB0118 Manual

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Basic Kit for Turtle 2WD SKU:ROB0118
Function Introduction
This Kit will teach you how to build a automatic obstacle - avoidance robot which is achieved on the
platform of the Turtle Robot,based on ultrasonic sensor as distance measuring device,and combined
with servo.
STEP 1: Assemble Robot
Refer to
Instruction Manual
http://www.dfrobot.com.cn/image/data/ROB0005/CN/ROB0005%20InstructionManual%20V1.1.pdf
Precautions:
1. Instruction Manual says nothing about how to deal with motor wire. The next pictrue tells it.

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Summary of Contents for DFRobot ROB0118

  • Page 1   Basic Kit for Turtle 2WD SKU:ROB0118 Function Introduction This Kit will teach you how to build a automatic obstacle - avoidance robot which is achieved on the platform of the Turtle Robot,based on ultrasonic sensor as distance measuring device,and combined with servo. STEP 1: Assemble Robot Refer to Instruction Manual http://www.dfrobot.com.cn/image/data/ROB0005/CN/ROB0005%20InstructionManual%20V1.1.pdf...
  • Page 2 2. Finished the robot chassis.Then following the connection diagram to wire the hardware. Motor Connection Physical map...
  • Page 3 STEP 2: Debug Motor Download the Code int speedPin_M1 = 5; //M1 Speed Control int speedPin_M2 = 6; //M2 Speed Control int directionPin_M1 = 4; //M1 Direction Control int directionPin_M2 = 7; //M1 Direction Control void setup(){ void loop(){ carAdvance(100,100); delay(1000); carBack(100,100); delay(1000); carTurnLeft(250,250);...
  • Page 4 digitalWrite(directionPin_M1,HIGH); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); void carBack(int leftSpeed,int rightSpeed){ //Move backward analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); void carTurnLeft(int leftSpeed,int rightSpeed){ //Turn Left analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,HIGH); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); STEP 3：Install Upper Plate 1.
  • Page 5 2. Fixed Ultrasonic Sensor Position Please see the Installation Manual http://www.dfrobot.com.cn/images/upload/File/20141030183325g7lofm.pdf 3. Fixed Servo Position STEP4: Debug Ultrasonic Sensor and Servo 1. Hardware Connection...
  • Page 6 Ultrasonic Sensor and Servo Controll...
  • Page 7 2. Download Code Install the library firstly. Metro libray http://www.dfrobot.com.cn/images/upload/File/20141031110246wu4065.rar #include <Servo.h> #include <Metro.h> Metro measureDistance = Metro(50); Metro sweepServo = Metro(20); unsigned long actualDistance = 0; Servo myservo; // create servo object to control a servo int pos = 60;...
  • Page 8 void SensorSetup(){ pinMode(URTRIG,OUTPUT); // A low pull on pin COMP/TRIG digitalWrite(URTRIG,HIGH); // Set to HIGH pinMode(URPWM, INPUT); // Sending Enable PWM mode comm for(int i=0;i<4;i++){ Serial.write(EnPwmCmd[i]); int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a se nsor reading digitalWrite(URTRIG, LOW);...
  • Page 9 if(pos>119) sweepFlag = false; // assign the var iable again }else { if(pos>=60 && pos<=120){ pos=pos-1; myservo.write(pos); if(pos<61) sweepFlag = true; STEP 5: Debugging Robot #include <Servo.h> #include <Metro.h> Metro measureDistance = Metro(50); Metro sweepServo = Metro(20); int speedPin_M1 = 5; //M1 Speed Control int speedPin_M2 = 6;...
  • Page 10 Serial.begin(9600); // Sets the baud rate to 9600 SensorSetup(); void loop(){ if(measureDistance.check() == 1){ actualDistance = MeasureDistance(); Serial.println(actualDistance); delay(100); if(sweepServo.check() == 1){ servoSweep(); if(actualDistance <= 30){ myservo.write(90); if(pos>=90){ carBack(100,100); //// Serial.println("carBack"); delay(100); carTurnRight(150,150); Serial.println("carTurnRight"); delay(100); }else{ carBack(100,100); //// Serial.println("carBack"); delay(100); carTurnLeft(150,150);...
  • Page 11 carAdvance(70,70); Serial.println("carAdvance"); delay(100); carBack(150,150); void SensorSetup(){ pinMode(URTRIG,OUTPUT); // A low pull on pin COMP/TRIG digitalWrite(URTRIG,HIGH); // Set to HIGH pinMode(URPWM, INPUT); // Sending Enable PWM mode comm for(int i=0;i<4;i++){ Serial.write(EnPwmCmd[i]); int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a sensor r eading digitalWrite(URTRIG, LOW);...
  • Page 12 digitalWrite(speedPin_M1,0); digitalWrite(directionPin_M2,LOW); void carAdvance(int leftSpeed,int rightSpeed){ //Move forward analogWrite (speedPin_M2,leftSpeed); //PWM Speed Control digitalWrite(directionPin_M1,HIGH); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); void carBack(int leftSpeed,int rightSpeed){ //Move backward analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH);...
  • Page 13 // tell servo to go to po sition in variable 'pos' if(pos>119) sweepFlag = false; // assign the var iable again else { if(pos>=60 && pos<=120){ pos=pos-1; myservo.write(pos); if(pos<61) sweepFlag = true; Your own car was born! https://www.dfrobot.com/wiki/index.php/Basic_Kit_for_Turtle_2WD_SKU:ROB0118 6-1-17...