Didalam membuat proyek ini, kami akan membangun robot Pemadam Kebakaran sederhana yang dapat bergerak menuju api dan meniup angin dari putaran kipas. Pada versi originalnya digunakan pompa keluar air disekitarnya untuk memadamkan api, anda bisa cek disini untuk detailnya. Model kipas dalam robot ini sangat sederhana yang akan mengajari kita konsep dasar robotika pemadam kebakaran.
Alat yang dibutuhkan :
Sensor api 1 x 5ch
2x fan kipas modul untuk robot
2 x mini motor dc Gearbox + roda
Shield Driver l293d
<
AF_DCMotor MotorL(1); // Motor for drive Left on M1
AF_DCMotor MotorR(2); // Motor for drive Right on M2
AF_DCMotor fanMotor(3); // Motor for Fan on M3
int val;
void setup() {
Serial.begin(115200); // set up Serial library at 115200 bps
Serial.println("*SMARS Firefighter Mod*");
// Set the speed to start, from 0 (off) to 255 (max speed)
MotorL.setSpeed(255);
MotorL.run(FORWARD);
MotorL.run(RELEASE);
MotorR.setSpeed(255);
MotorL.run(FORWARD);
MotorL.run(RELEASE);
MotorR.setSpeed(255);
MotorR.run(FORWARD);
MotorR.run(RELEASE);
fanMotor.setSpeed(
MotorR.run(FORWARD);
MotorR.run(RELEASE);
fanMotor.setSpeed(255);
fanMotor.run(FORWARD);
fanMotor.run(RELEASE);
}
fanMotor.run(FORWARD);
fanMotor.run(RELEASE);
}
void loop() {
flameangle();
flameangle(); // aligns the flame on the central sensor
setdistance(); // move the robot in the right position
int num= maxflame('v');
if (num> 996) { // verify the flame intensitiy
fanMotor.run(FORWARD); // actives the fan motor for 2 seconds
delay(2000);
fanMotor.run(RELEASE);
fanMotor.run(RELEASE); // deative the fan motor
};
}
//---------------------------------------------------------------------------
// The function maxflame() gets the values from the 5 channels and returns
// the position where it finds the max value (if you give 'p' as argument l)
// or the max value (if you give 'v' as argument l)
// connections:
//----------------------
// sensor arduino-
// - A1 -. A0 -
// - A2 -. A1 -
// - A3 -. A2 -
// - A4 -. A3 -
// - A5 -. A4 -
//----------------------
//
int maxflame(char l) {
int data[5]; // creating an array where store the sensor values
int i;
for (i=0; i<5; i++) { // read the sensor values and store them into the array
data[i]= analogRead(i);
};
};
int mv=0; // max value
int mn; // max value position
for (i=0; i<5; i++) { // check all the array's elements and sets mv to the maximum value measured and mn to the array's position i
if (data[i]> mv) {
mv=data[i];
mn=i;
}
};
mv=data[i];
mn=i;
}
};
if(l=='p') { // returns the position of the maximum value
return mn;
};
};
if(l=='v') { // returns the maximum value
return mv;
}
}
}
}
//---------------------------------------------------------------------------------------
// The function flameangle() move aligns the robot with the flame
void flameangle(){
val= maxflame(
val= maxflame('p'); //store the position of the maxflame into the variable val
if(val<2) {
while (val!=2) {
MotorL.setSpeed(
MotorL.setSpeed(80);
MotorR.setSpeed(
MotorR.setSpeed(80);
MotorL.run(FORWARD);
MotorR.run(BACKWARD);
val= maxflame(
MotorL.run(FORWARD);
MotorR.run(BACKWARD);
val= maxflame('p');
};
};
};
};
Serial.println(val);
if(val>2) {
while(val!=2) {
MotorL.setSpeed(
MotorL.setSpeed(80);
MotorR.setSpeed(
MotorR.setSpeed(80);
MotorR.run(FORWARD);
MotorL.run(BACKWARD);
val= maxflame(
MotorR.run(FORWARD);
MotorL.run(BACKWARD);
val= maxflame('p');
};
};
};
};
if (val==2) { // When the robot is in front of the flame, it deactivates the motors
MotorL.run(RELEASE);
MotorR.run(RELEASE);
}
}
//---------------------------------------------------------------------------------------
// The function setdistance() makes the robot move forward or backward until it is at a choosed distance
void setdistance() {
int md=998; //minimun distance
int maxd=980; //maximum distance
int tub=996; //tollerance
val= maxflame('v'); //if the robot it's too near the flame, it go backward
if(val> md) {
MotorL.run(BACKWARD);
MotorR.run(BACKWARD);
}
MotorL.run(BACKWARD);
MotorR.run(BACKWARD);
}
if(val>maxd && val<tub) { //if the robot it's too far from thr flame, it go forward
MotorL.run(FORWARD);
MotorR.run(FORWARD);
}
if(val>tub&& val<md) { // if it's at the right distance, it stops.
MotorL.run(RELEASE);
MotorR.run(RELEASE);
}
}
