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https://github.com/guilherme-marcello/infinizerarm

Ultrasonic modules and motor drivers integration library for Arduino
https://github.com/guilherme-marcello/infinizerarm

arduino-library autonomous-vehicles motor-driver open-source ultrasonic-sensor

Last synced: 6 days ago
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Ultrasonic modules and motor drivers integration library for Arduino

Host: GitHub
URL: https://github.com/guilherme-marcello/infinizerarm
Owner: guilherme-marcello
License: mit
Created: 2021-08-05T17:54:18.000Z (over 3 years ago)
Default Branch: main
Last Pushed: 2022-08-20T15:58:30.000Z (about 2 years ago)
Last Synced: 2023-05-01T10:40:08.181Z (over 1 year ago)
Topics: arduino-library, autonomous-vehicles, motor-driver, open-source, ultrasonic-sensor
Language: C++
Homepage:
Size: 17.6 KB
Stars: 0
Watchers: 1
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

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README

        
# Motor driver and US-sensor integration for Arduino

Version: 1.3.1

Release date: 2022 June 9

Author: Guilherme Marcello ()

## Summary

This is a library for the Arduino IDE that allows you to control ultrasonic modules in pulse mode (examples: SRF-06, HC-SR04, US-100 et cetera.) and to integrate motor drivers (needs to be able to independently control the speed and rotation of 2 DC motors).

## Supported platforms

This library should work starting with version 1.8.0 (not tested with older versions) and should work on any Arduino board.

## Installation

Download the zip file from main branch, navigate to *Sketch* > *Include Library* > *Add .ZIP Library* and upload it or install from library manager.

Official guideline: https://www.arduino.cc/en/Guide/Libraries

## Documentation

* `public enum Ultrasonic::Side`


  Enumeration of sides where the sensor can be in the robot.

  * `Ultrasonic::Side::LEFT`

  * `Ultrasonic::Side::RIGHT`

* `Ultrasonic(uint8_t Trigger, uint8_t Echo)`


  Constructor. Use trigger and echo pin numbers as `Trigger` and `Echo` arguments. The default sensor side is LEFT.

  * `uint16_t Ultrasonic::get_distance()`


  It sends an ultrasonic pulse (1 per 10 microseconds) and return relative distance in centimeters by calculating the time travel and the speed of the sound (air).

  * `Ultrasonic::Side Ultrasonic::get_side()`


  Returns the sensor side (as public enumerated value).

  * `void Ultrasonic::set_side(Ultrasonic::Side new_side)`


  Updates the sensor side with the value passed as `new_side` argument.

  

* `Motordriver(uint8_t pinos[6])`


  Constructor. Initializes and configures the motor driver using an 6-sized `uiint8_t`  array. The indexed collection argument `pinos` should follow the rule: {ENA,IN1,IN2,IN3,IN4,ENB}. 

  

  * `void Motordriver::stop()`


  Writes LOW to both motors enable pin.

  

  * `void Motordriver::right(uint8_t valueSA, uint8_t valueSB)`


  Writes analog values `valueSA` and `valueSB` to motor driver pins. Motor rotation: A-Clockwise, B-Counterclockwise. 

  

  * `void Motordriver::left(uint8_t valueSA, uint8_t valueSB)`


  Writes analog values `valueSA` and `valueSB` to motor driver pins. Motor rotation: A-Counterclockwise, B-Clockwise. 

  * `void Motordriver::forward(uint8_t valueSA, uint8_t valueSB)`


  Writes analog values `valueSA` and `valueSB` to motor driver pins. Motor rotation: A-Clockwise, B-Clockwise. 

  * `void Motordriver::backwards(uint8_t valueSA, uint8_t valueSB)`


  Writes analog values `valueSA` and `valueSB` to motor driver pins. Motor rotation: A-Counterclockwise, B-Counterclockwise. 

  

 * `Robot()`


  Constructor. There is no motordriver set by default.

    

  * `bool Robot::isObstacleInFront(int distance, int sec_distance=20)`


  Returns true if argument `distance`is less or equal than optional argument `sec_distance` else returns false.

  

  * `void Robot::set_motordriver(Motordriver motordriver)`


  Updates the current motordriver with the value passed as `motordriver` argument.

  

  * `void Robot::avoid(Ultrasonic ultrasonic, uint16_t sec_distance, uint8_t base_speed)`


  Using `ultrasonic` instance, checks whether the distance from the sensor to the nearest object is less than `sec_distance`(cm) and adjusts the speed of the motors accordingly. The applied 'speeds' only take on the values `base_speed` and `base_speed/2`. Requires a set motordriver (see method `Robot::set_motordriver`).

  

## Feedback

If you have any feedback, please reach out to me at [email protected]

## License

MIT