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2015/11/4
Basic Kit for Cherokey 4WD SKU:ROB0117
From Robot Wiki
Contents
1 Function Introduction
1.1 STEP 1: Assemble Robot
1.2 STEP2：Debug Motor
1.3 STEP3：Install Cherokey expansion plate
1.4 STEP4: Debug Ultrasonic Sensor and Servo
1.5 STEP 5: Debugging Robot
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/ROB0102/Assembly%20tutorial.pdf)
Precautions:
Romeo need to fix to the Cherokey.
https://www.dfrobot.com/wiki/index.php?title=Basic_Kit_for_Cherokey_4WD_SKU:ROB0117
Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki
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Summary of Contents for DFRobot ROB0117
- Page 1 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki Basic Kit for Cherokey 4WD SKU:ROB0117 From Robot Wiki Contents 1 Function Introduction 1.1 STEP 1: Assemble Robot 1.2 STEP2：Debug Motor 1.3 STEP3：Install Cherokey expansion plate 1.4 STEP4: Debug Ultrasonic Sensor and Servo 1.5 STEP 5: Debugging Robot...
- Page 2 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki fix Romeo BLE STEP2：Debug Motor 1. Connect Motor https://www.dfrobot.com/wiki/index.php?title=Basic_Kit_for_Cherokey_4WD_SKU:ROB0117 2/13...
- Page 3 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki Wiring 2. Download 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...
- Page 4 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki void carAdvance(int leftSpeed,int rightSpeed){ //Move forward analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); void carTurnLeft(int leftSpeed,int rightSpeed){ //Turn Left analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right analogWrite (speedPin_M2,leftSpeed);...
- Page 5 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki 1. Prepare the Materials 2. Fixed Ultrasonic Sensor Position Please see the Installation Manual (http://www.dfrobot.com.cn/images/upload/File/20141030183325g7lofm.pdf) 3. Fixed Servo Position https://www.dfrobot.com/wiki/index.php?title=Basic_Kit_for_Cherokey_4WD_SKU:ROB0117 5/13...
- Page 6 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki https://www.dfrobot.com/wiki/index.php?title=Basic_Kit_for_Cherokey_4WD_SKU:ROB0117 6/13...
- Page 7 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki STEP4: Debug Ultrasonic Sensor and Servo 1. Hardware Connection https://www.dfrobot.com/wiki/index.php?title=Basic_Kit_for_Cherokey_4WD_SKU:ROB0117 7/13...
- Page 8 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki https://www.dfrobot.com/wiki/index.php?title=Basic_Kit_for_Cherokey_4WD_SKU:ROB0117 8/13...
- Page 9 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki 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 10 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki 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 command for(int i=0;i<4;i++){ Serial.write(EnPwmCmd[i]); int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a sensor reading digitalWrite(URTRIG, LOW);...
- Page 11 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki 2. Download Code #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; //M2 Speed Control int directionPin_M1 = 4;...
- Page 12 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki 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(300); carTurnRight(250,250); Serial.println("carTurnRight"); delay(500); }else{ carBack(100,100); Serial.println("carBack"); delay(300); carTurnLeft(250,250); Serial.println("carTurnLeft"); delay(500); }else{ carAdvance(100,100); Serial.println("carAdvance");...
- Page 13 2015/11/4 Basic Kit for Cherokey 4WD SKU:ROB0117 - Robot Wiki void carTurnLeft(int leftSpeed,int rightSpeed){ //Turn Left analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,LOW); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,HIGH); void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right analogWrite (speedPin_M2,leftSpeed); digitalWrite(directionPin_M1,HIGH); analogWrite (speedPin_M1,rightSpeed); digitalWrite(directionPin_M2,LOW); void servoSweep(){ if(sweepFlag){ if(pos>=60 && pos<=120){ pos=pos+1;...
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