├── LICENSE ├── README.md ├── escornabot.zip ├── escornabot ├── escornabot.cpp ├── escornabot.h ├── examples │ ├── buzzer │ │ └── buzzer.ino │ ├── line_follower │ │ └── line_follower.ino │ ├── test_escornabot │ │ └── test_escornabot.ino │ └── us │ │ └── us.ino ├── keywords.txt └── library.properties ├── images ├── bt.jpg ├── bt_p.jpg ├── buzzer.jpg ├── buzzer_p.jpg ├── escornabot.jpg ├── escornabot.png ├── escornabot_p.jpg ├── ir.jpg ├── ir_p.jpg ├── led.png ├── led_p.png ├── pap.png ├── pap_p.png ├── push.jpg ├── push_p.jpg ├── us.jpg └── us_p.jpg └── manual ├── ejemplos ├── ejemplo_01 │ └── ejemplo_01.ino ├── ejemplo_02 │ └── ejemplo_02.ino ├── ejemplo_03a │ └── ejemplo_03a.ino ├── ejemplo_03b │ └── ejemplo_03b.ino ├── ejemplo_04a │ └── ejemplo_04a.ino ├── ejemplo_04b │ └── ejemplo_04b.ino ├── ejemplo_05a │ └── ejemplo_05a.ino ├── ejemplo_06a │ └── ejemplo_06a.ino ├── ejemplo_07a │ └── ejemplo_07a.ino └── escornabot_clasico │ └── escornabot_clasico.ino ├── images ├── 01_incluir_libreria_a.png ├── 02_incluir_libreria_b.png ├── 03_incluir_libreria_c.png ├── 04_incluir_libreria_d.png ├── 05_mover_escornabot_a.png ├── 06_mover_escornabot_b.png ├── 07_luces_sonido_a.png ├── 08_botonera_a.png ├── 09_bluetooth_a.jpg ├── 10_test_escornabot.png ├── 11_escornabot_ultrasonidos.png ├── 12_escornabot_ir.png ├── escornabot_ir.fzz └── escornabot_ultrasonidos.fzz ├── manual_libreria.odt └── manual_libreria.pdf /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Autoría 2 | *Prudencio Luna*, *Pedro Ruiz* 3 | 4 | # Aportaciones 5 | * *Antonio Gómez* 6 | * *Jose Antonio Vacas* 7 | * *Maribel Ruiz Martínez* 8 | 9 | # Control de Versiones 10 | - 0.20 (04/09/2020): sexta versión, puede controlar sensores como ultrasonidos e infrarrojos. 11 | - 0.15 (16/04/2019): quinta versión, se puede mover los motores mediante procedimiento de medio paso (tipo 3) y se corrigen fallos en constructor con parámetros para elegir modos de paso. 12 | - 0.14 (14/04/2019):cambio de nombre de procedimiento stop por Stop, se arregla procedimiento versión en .h, cambios en procedimiento pushButton, cambios en archivo de ejemplo. Limpieza de código. 13 | - 0.13 (08/03/2018): se añade funciones driveD (mueve por distancia en cm) y turnA (gira por ángulos). 14 | - 0.12 (28/02/2018): se cambia sentido de marcha, se facilita pasar parámetros con diccionario, se añade función ledState y traducciones varias. Se adecua archivo de ejemplo. 15 | - 0.11 (19/11/2017): se añade procedimiento blueT(), para conocer el dato recibido por bluetooth. 16 | - 0.1 (8/11/2017): primera versión del programa, incorpora control de motores paso a paso (avances, retrocesos, giros, parada), elección del tipo de excitación de bobinas, control de leds, zumbador y botonera. 17 | # Librería de arduino para Escornabot 18 | Repositorio para albergar librería para programar de forma amigable escornabot. 19 | 20 | ![](images/escornabot_p.jpg "escornabot") 21 | ## Antecedentes 22 | Unos de los problemas de escornabot era la ausencia de instrucciones amigables en arduino para controlar sus elementos (motores paso a paso, botonera, leds y zumbador, e incluso la adición de sensores), todo ello pensando en el acercamiento del uso de dicho robot para estudiantes de secundaria. Por este motivo desde el Club de Robótica de Granada nos planteamos desarrollar una librería para dicho fin. 23 | ## Librería 24 | La librería debemos cargar en arduino por los métodos tradicionales, incluyendo el zip o copiandola descomprimida en la carpeta "libraries" de arduino. 25 | |Procedimientos | Elemento a controlar| 26 | |---|---| 27 | |**objetoEscornabot.drive (vueltas, velocidad)**: Sirve para avanzar o retroceder. Se mueve el número de vueltas indicado, si son negativas va en el sentido contrario. La velocidad se da rpm|Motores ![](images/pap_p.png "pap")| 28 | |**objetoEscornabot.driveD (distancia, velocidad)**: Igual que el anterior pero le pasamos la cantidad de cm que queremos que se mueva.|Motores ![](images/pap_p.png "pap")| 29 | |**objetoEscornabot.turn (vueltas, velocidad)**: Sirve para girar. Se indica como antes el número de vueltas o fracción a girar, si son positivas gira en un sentido y negativas en el contrario. La velocidad se da en rpm.|Motores ![](images/pap_p.png "pap")| 30 | |**objetoEscornabot.turnA (angulo, velocidad)**: Igual que el anterior pero el giro se le da en grados (de 0º a 360º).|Motores ![](images/pap_p.png "pap")| 31 | |**objetoEscornabot.Stop ()**: detiene los dos motores.| Motores ![](images/pap_p.png "pap")| 32 | |**objetoEscornabot.ledON (número de led o posición en inglés)**: sirve para encender los leds de escornabot. Los leds son: 1 o forward (azul, posición delantera), 3 o backward (ámbar, posición trasera), 4 o right (verde, posición derecha), y 2 o left (rojo, posición izquierda).| Leds ![](images/led_p.png "led")| 33 | |**objetoEscornabot.ledOFF (número de led o posición en inglés)**: sirve para apagar los leds de escornabot.| Leds ![](images/led_p.png "led")| 34 | |**objetoEscornabot.ledState (número de led o posición en inglés)**: devuelve el estado del led, encendido (1 o HIGH) o apagado (0 o LOW).| Leds ![](images/led_p.png "led")| 35 | |**objetoEscornabot.buzzON ()**: enciende el zumbador.| Buzzer ![](images/buzzer_p.jpg "buzzer")| 36 | |**objetoEscornabot.buzzOFF ()**: apaga el zumbador.| Buzzer ![](images/buzzer_p.jpg "buzzer")| 37 | |**objetoEscornabot.pushButton()**: devuelve el valor del botón pulsado o la posición en inglés. 1 o forward (delantero), 3 o backward (trasero), 4 o right (derecho), 2 o left (izquierdo), 5 o central (central). |Pulsadores ![](images/push_p.jpg "pulsador")| 38 | |**objetoEscornabot.blueT()**: devuelve el valor numérico correspondiente a el carácter enviado por bluetooth a escornabot.|Bluetooth ![](images/bt_p.jpg "bt")| 39 | |**objetoEscornabot.infrared (pin izquierdo, pin derecho)**: configura los pines para los sensores izquierdo y derecho .| Infrarrojos ![](images/ir_p.jpg "ir")| 40 | |**objetoEscornabot.blackRight ()**: devuelve true si el sensor derecho infrarrojo está a negro, false cuando no está a negro.| Infrarrojos ![](images/ir_p.jpg "ir")| 41 | |**objetoEscornabot.blackLeft ()**: devuelve true si el sensor izquierdo infrarrojo está a negro, false cuando no está a negro.| Infrarrojos ![](images/ir_p.jpg "ir")| 42 | |**objetoEscornabot.whiteRight ()**: devuelve true si el sensor derecho infrarrojo está a blanco, false cuando no está a blanco.| Infrarrojos ![](images/ir_p.jpg "ir")| 43 | |**objetoEscornabot.whiteLeft ()**: devuelve true si el sensor izquierdo infrarrojo está a blanco, false cuando no está a blanco.| Infrarrojos ![](images/ir_p.jpg "ir")| 44 | |**objetoEscornabot.us (pin trigger, pin echo)**: configura los pines trigger y echo de un sensor de ultrasonidos.| Ultrasonidos ![](images/us_p.jpg "us")| 45 | |**objetoEscornabot.distance ()**: devuelve la distancia en cm a la que detecta un objeto el sensor de ultrasonidos definido previamente.| Ultrasonidos ![](images/us_p.jpg "us")| 46 | |**objetoEscornabot.buzzer (pin_zumbador)**: configura el pin al que se conecta el zumbador.| Buzzer ![](images/buzzer_p.jpg "buzzer")| 47 | |**objetoEscornabot.tono (frecuencia, duración)**: emite un sonido en el zumbador configurado anteriormente, de una cierta frecuencia en Hz y duración en ms.| Buzzer ![](images/buzzer_p.jpg "buzzer")| 48 | |**objetoEscornabot.version ()**: nos devuelve la versión de la librería utilizada.|Versión| 49 | 50 | ### Ejemplo test 51 | ~~~ 52 | #include 53 | 54 | escornabot mirobot;//por defecto funciona a modo paso completo con activación de una sóla bobina en cada paso (menor consumo y menor par) 55 | // si ponemos mirobot(2), se activa el modo paso completo con activación de dos bobinas a la vez en cada paso (mayor consumo y mayor par) 56 | // si ponemos mirobot(3), se activa el modo medio paso (consumo y par intermedio con los casos anteriores y movimiento más suave) 57 | 58 | boolean led1 = false; 59 | boolean led2 = false; 60 | boolean led3 = false; 61 | boolean led4 = false; 62 | boolean buzz = false; 63 | 64 | void setup() { 65 | Serial.begin (9600); 66 | } 67 | 68 | void loop() { 69 | //prueba de librería 70 | 71 | switch (mirobot.pushButton()) { 72 | 73 | case forward://si pulsamos el botón delantero, se enciende led delantero, se mueve 8 cm hacia delante, y se apaga el led delantero 74 | mirobot.ledON (forward); 75 | mirobot.driveD (8, 10); 76 | mirobot.ledOFF (forward); 77 | break; 78 | 79 | case backward://si pulsamos el botón trasero, se enciende led trasero, se mueve 8 cm hacia atrás, y se apaga el led trasero 80 | mirobot.ledON (backward); 81 | mirobot.driveD (-8, 10); 82 | mirobot.ledOFF (backward); 83 | break; 84 | 85 | case right://si pulsamos el botón derecho, se enciende led derecho, gira 45 grados hacia la derecha, y se apaga el led derecho 86 | mirobot.ledON (right); 87 | mirobot.turnA (45, 10); 88 | mirobot.ledOFF (right); 89 | break; 90 | 91 | case left://si pulsamos el botón izquierdo, se enciende led izquierdo, se mueve 45 grados hacia la izquierda, y se apaga el led izquierdo 92 | mirobot.ledON (left); 93 | mirobot.turnA (-45, 10); 94 | mirobot.ledOFF (left); 95 | break; 96 | 97 | case central://si pulsamos el botón central, suena el zumbador y se enciende todos los leds durante un segundo, después se apagan el zumbador y los leds 98 | mirobot.buzzON (); 99 | for (int i = 1; i < mirobot.numberLeds; i++) 100 | { 101 | mirobot.ledON(i); 102 | } 103 | delay (1000); 104 | mirobot.buzzOFF(); 105 | 106 | for (int i = 1; i < mirobot.numberLeds; i++) 107 | { 108 | mirobot.ledOFF(i); 109 | } 110 | break; 111 | 112 | default://otro caso, si no pulsamos nada, no se mueve el robot 113 | mirobot.driveD (0,0); 114 | break; 115 | 116 | } 117 | 118 | switch (mirobot.blueT()) {//en función del caracter emitido por bluetooth hace varias acciones 119 | case 'A': 120 | mirobot.drive (0.25, 12); 121 | break; 122 | case 'R': 123 | mirobot.drive (-0.25, 12); 124 | break; 125 | case 'D': 126 | mirobot.turn (0.125, 12); 127 | break; 128 | case 'I': 129 | mirobot.turn (-0.125, 12); 130 | break; 131 | case '1': 132 | /*led1 = !led1; 133 | if (led1) { 134 | mirobot.ledON(forward); 135 | } 136 | else { 137 | mirobot.ledOFF(forward); 138 | }*/ 139 | invierteLed(forward); 140 | break; 141 | case '2': 142 | led2 = !led2; 143 | if (led2) { 144 | mirobot.ledON(left); 145 | } 146 | else { 147 | mirobot.ledOFF(left); 148 | } 149 | break; 150 | case '3': 151 | led3 = !led3; 152 | if (led3) { 153 | mirobot.ledON(backward); 154 | } 155 | else { 156 | mirobot.ledOFF(backward); 157 | } 158 | break; 159 | case '4': 160 | led4 = !led4; 161 | if (led4) { 162 | mirobot.ledON(right); 163 | } 164 | else { 165 | mirobot.ledOFF(right); 166 | } 167 | break; 168 | case '5': 169 | buzz = !buzz; 170 | if (buzz) { 171 | mirobot.buzzON(); 172 | } 173 | else { 174 | mirobot.buzzOFF(); 175 | } 176 | break; 177 | //default: 178 | // statements 179 | } 180 | 181 | } 182 | 183 | void invierteLed(int i) { 184 | if (mirobot.ledState(i)) { 185 | mirobot.ledOFF(i); 186 | } else { 187 | mirobot.ledON(i); 188 | } 189 | } 190 | ~~~ 191 | 192 | ### Ejemplo us ### 193 | ~~~ 194 | #include 195 | 196 | escornabot mirobot; 197 | boolean funciona = false; 198 | 199 | void setup() { 200 | mirobot.us(11, 12); //configuramos los pines trigger y echo 201 | } 202 | 203 | void loop() { 204 | 205 | compruebaBoton(); 206 | 207 | if (funciona == true) { 208 | mirobot.driveD(-5, 10); 209 | 210 | if (mirobot.distance() <= 15) { 211 | mirobot.driveD (5, 10); 212 | mirobot.turnA (-45, 10); 213 | } 214 | } 215 | 216 | else if (funciona == false) { 217 | mirobot.Stop(); 218 | } 219 | 220 | } 221 | 222 | void compruebaBoton () { 223 | if (mirobot.pushButton() == right) { 224 | funciona = !funciona; 225 | delay (300); 226 | } 227 | } 228 | ~~~ 229 | ### Ejemplo line follower 230 | ~~~ 231 | #include 232 | 233 | escornabot miescorni; 234 | boolean funciona = false; 235 | 236 | void setup() { 237 | miescorni.infrared(11,12); 238 | } 239 | 240 | void loop() { 241 | 242 | compruebaBoton(); 243 | 244 | if (funciona == true) { 245 | 246 | if (miescorni.blackRight() && miescorni.whiteLeft()) {//si sensor izquierdo encuentra blanco 247 | miescorni.turnA(-5, 10);//gira hacia la derecha en el sentido contrario a la marcha 248 | } 249 | if (miescorni.whiteRight() && miescorni.blackLeft()) {//si sensor derecho encuentra blanco 250 | miescorni.turnA(5, 10);//gira hacia la izquierda en el sentido contrario a la marcha 251 | } 252 | 253 | if (miescorni.blackRight() && miescorni.blackLeft()) {//si los dos sensores encuentran negro 254 | miescorni.driveD(-2, 13);//se mueve hacia delante en el sentido contrario a la marcha 255 | } 256 | if (miescorni.whiteRight() && miescorni.whiteLeft()) {//si los dos sensores encuentran blanco 257 | miescorni.driveD(2, 13);//se mueve hacia detrás en el sentido contrario a la marcha 258 | } 259 | 260 | } 261 | 262 | else if (funciona == false) { 263 | miescorni.Stop(); 264 | } 265 | 266 | } 267 | 268 | void compruebaBoton () { 269 | if (miescorni.pushButton() == right) { 270 | funciona = !funciona; 271 | delay (300); 272 | } 273 | 274 | ~~~ 275 | ### Ejemplo buzzer 276 | ~~~ 277 | #include 278 | 279 | escornabot miescorni; 280 | 281 | void setup() { 282 | 283 | miescorni.buzzer(10); 284 | 285 | } 286 | 287 | void loop() { 288 | 289 | for (int x = 0; x < 1000; x = x + 100) { 290 | miescorni.tono(x, 500); 291 | } 292 | 293 | for (int x = 1000; x >=0; x = x - 100) { 294 | miescorni.tono(x, 500); 295 | } 296 | } 297 | ~~~ 298 | # Piezas para sensores 299 | 300 | Os enlazo el repositorio [Piezas escornabot](https://github.com/plunax/Piezas-escornanbot) de @plunax (*Prudencio Luna*) dónde están alojadas las piezas para poder incorporar sensores a escornabot. 301 | 302 | # Vídeos de funcionamiento 303 | [Lista de reproducción](https://www.youtube.com/playlist?list=PLMmcVmU6CWlLBAfntO2Pt8XanJAsduUnp) -------------------------------------------------------------------------------- /escornabot.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/escornabot/libreria-arduino/c5e71e7a7e7434fc6a381b8fd4703d919ed8bb96/escornabot.zip -------------------------------------------------------------------------------- /escornabot/escornabot.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | Librería escornabot por Prudencio Luna y Pedro Ruiz 3 | V 0.20 (04/09/2020): sexta versión, se le pueden colocar sensores como ultrasonidos e infrarrojos. 4 | V 0.15 (16/04/2019): quinta versión, se puede mover los motores mediante procedimiento de medio paso (tipo 3) y se corrigen fallos en constructor con parámetros para elegir modos de paso 5 | V 0.14 (14/04/2019): cuarta versión del programa, cambiado nombre de procedimiento stop por Stop, se arregla procedimiento versión en .h, cambios en procedimiento pushButton, cambios en archivo de ejemplo. 6 | V 0.13 (07/03/2018): tercera versión del programa, incorpora control de motores paso a paso (avances, retrocesos, giros, parada) 7 | , elección del tipo de excitación de bobinas, control de leds, zumbador, botonera y bluetooth. 8 | */ 9 | 10 | #include "Arduino.h" 11 | #include "escornabot.h" 12 | 13 | // Declaración y asignación de variables privadas 14 | 15 | int step [8][4] =//matriz que describe puesta en marcha de bobinas por defecto (4 posiciones) 16 | { 17 | {1, 0, 0, 0}, 18 | {0, 1, 0, 0}, 19 | {0, 0, 1, 0}, 20 | {0, 0, 0, 1} 21 | }; 22 | 23 | int stepsLap=2048;//nº de pasos que da en una vuelta (en paso completo) 24 | int stepsDone=0;//cuenta los pasos dados 25 | int coilPosition=0;// devuelve la posición de la bobina en cada paso (4 posiciones) 26 | int nSteps=4;//numero de pasos que da por ciclo completo 27 | int tstep1rpm=29297;//velocidad en rpm, 29297 es el nº de microsegundos que tardaría en dar 1 paso a 1rpm, 60/2048 y pasarlo a microsegundos 28 | 29 | /*Pinout*/ 30 | const int pinMotor[8]={2,3,4,5,6,7,8,9};//pines de motores 31 | const int buzz = 10; //pin del zumbador 32 | const int led[4] = {14,15,16,17}; // 1 Azul, blue;2 Rojo, red;3 Amarillo, yellow;4 Verde, green 33 | const int pushButtons = A7; //Es una variable analógica. En un circuito paralelo que en función de la tecla que pulsemos obtenemos un valor analógico distinto 34 | 35 | /*Valores aproximados que se obtienen al accionar los pulsadores*/ 36 | int buttonBackward = 768; 37 | int buttonForward = 512; 38 | int buttonRight = 882; 39 | int buttonLeft = 683; 40 | int buttonCenter = 819; 41 | 42 | 43 | /* 44 | escornabot constructor sin pasar parámetros 45 | */ 46 | 47 | escornabot::escornabot() //si no se pasan parámetros al constructor por defecto coge el paso 1 (1 sóla bobina a la vez) 48 | { 49 | //se inicializa las comunicaciones serie a 9600 baudios (para bluetooth) 50 | Serial.begin (9600);//iniciamos las comunicaciones 51 | //se definen los pines de motores de escornabot como de salida 52 | for (int i=0;i<8;i++) { 53 | pinMode(pinMotor [i],OUTPUT); 54 | } 55 | //se definen los pines de los leds como salida 56 | for(int i=0; i<4; i++){ 57 | pinMode(led[i], OUTPUT); 58 | } 59 | //se define el pin del zumbador como salida 60 | pinMode(buzz, OUTPUT); 61 | // se define el pin analógico de entrada de pulsadores tipo PULL UP 62 | pinMode(pushButtons,INPUT_PULLUP); 63 | 64 | }//escornabot 65 | 66 | /* 67 | escornabot constructor pasando tipo de paso de bobina 1, 2 o 3.( 1 y 2 de paso completo 3 de medio paso) 68 | */ 69 | 70 | escornabot::escornabot(int kindStep) //aquí se construye el objeto escornabot con el tipo de paso (excitación de bobinas) 2 (paso completo con dos bobinas) o 3 (medio paso) 71 | { 72 | //se inicializa las comunicaciones serie a 9600 baudios (para bluetooth) 73 | Serial.begin (9600);//iniciamos las comunicaciones 74 | //se definen los pines de motores de escornabot como de salida 75 | for (int i=0;i<8;i++) { 76 | pinMode(pinMotor [i],OUTPUT); 77 | } 78 | //se definen los pines de los leds como salida 79 | for(int i=0; i<4; i++){ 80 | pinMode(led[i], OUTPUT); 81 | } 82 | //se define el pin del zumbador como salida 83 | pinMode(buzz, OUTPUT); 84 | // se define el pin analógico de entrada de pulsadores tipo PULL UP 85 | pinMode(pushButtons,INPUT_PULLUP); 86 | //comprueba el parámetro pasado de tipo de paso de bobina 87 | 88 | 89 | if (kindStep==2) {// se excitan dos bobinas a la vez en paso completo (más par más consumo) 90 | /* Ahora la matriz debe cambiar a 91 | {1, 1, 0, 0}, 92 | {0, 1, 1, 0}, 93 | {0, 0, 1, 1}, 94 | {1, 0, 0, 1}*/ 95 | step [0][1] =1;step [1][2]=1;step[2][3]=1;step [3][0]=1;//se cambian los 0 por 1 en la matriz para el paso completo con una bobina por paso 96 | } 97 | 98 | else if (kindStep==3) {//medio paso consumo y par intermedio a los anteriores movimiento más suave 99 | /* Ahora la matriz de medio paso debe cambiar a 100 | {1, 0, 0, 0}, 101 | {1, 1, 0, 0}, 102 | {0, 1, 0, 0}, 103 | {0, 1, 1, 0}, 104 | {0, 0, 1, 0}, 105 | {0, 0, 1, 1}, 106 | {0, 0, 0, 1}, 107 | {1, 0, 0, 1}*/ 108 | step[1][0]=1;step[2][1]=1;step[2][2]=0;//se cambian los 0 por 1 y los 1 por 0 en la matriz para el medio paso 109 | step[3][1]=1;step[3][2]=1;step[3][3]=0; 110 | step[4][2]=1;step[5][2]=1;step[5][3]=1; 111 | step[6][3]=1;step[7][0]=1;step[7][3]=1; 112 | stepsLap=4096; 113 | nSteps=8; 114 | tstep1rpm=14648;//es el nº de microsegundos que tardaría en dar 1 paso a 1rpm, 60/4096 y pasarlo a microsegundos 115 | } 116 | }//escornabot 117 | 118 | 119 | /* 120 | drive procedimiento para avanzar y retroceder 121 | */ 122 | 123 | void escornabot::drive (float laps, int speed) {//vueltas son el nº de vueltas a dar (+ avanza o - retrocede) y velocidad en rpm 124 | 125 | stepsDone=0; 126 | if (laps>=0) {//si las vueltas son positivas las bobinas se excitan en el sentido de avance 127 | while (int(laps*stepsLap)>=stepsDone) { 128 | stepsDone ++; 129 | coilPosition=stepsDone % nSteps;//calcula el resto para saber en la posición de bobina que está 130 | //cuando un pin está en una fila de la matriz el del otro motor está a la inversa pin 2 col 4 pin 6 col 1 por ejemplo 131 | digitalWrite(pinMotor[0], step[coilPosition][3]);//pin 2 132 | digitalWrite(pinMotor[4], step[coilPosition][0]);//pin 6 133 | digitalWrite(pinMotor[1], step[coilPosition][2]);//pin 3 134 | digitalWrite(pinMotor[5], step[coilPosition][1]);//pin 7 135 | digitalWrite(pinMotor[2], step[coilPosition][1]);//pin 4 136 | digitalWrite(pinMotor[6], step[coilPosition][2]);//pin 8 137 | digitalWrite(pinMotor[3], step[coilPosition][0]);//pin 5 138 | digitalWrite(pinMotor[7], step[coilPosition][3]);//pin 9 139 | delayMicroseconds(tstep1rpm/speed); 140 | } 141 | } 142 | 143 | else {//si las vueltas son negativas las bobinas se excitan en el sentido de retroceso 144 | while (int(-laps*stepsLap)>=stepsDone) { 145 | stepsDone ++; 146 | coilPosition=stepsDone % nSteps; 147 | digitalWrite(pinMotor[0], step[coilPosition][0]); 148 | digitalWrite(pinMotor[4], step[coilPosition][3]); 149 | digitalWrite(pinMotor[1], step[coilPosition][1]); 150 | digitalWrite(pinMotor[5], step[coilPosition][2]); 151 | digitalWrite(pinMotor[2], step[coilPosition][2]); 152 | digitalWrite(pinMotor[6], step[coilPosition][1]); 153 | digitalWrite(pinMotor[3], step[coilPosition][3]); 154 | digitalWrite(pinMotor[7], step[coilPosition][0]); 155 | delayMicroseconds(tstep1rpm/speed); 156 | } 157 | 158 | } 159 | 160 | }//drive 161 | 162 | /* 163 | driveD procedimiento para avanzar y retroceder 164 | */ 165 | 166 | void escornabot::driveD (float distance, int speed) {//distancia es el nº de cm a avanzar (+ avanza o - retrocede) y velocidad en rpm 167 | escornabot::drive ((distance/24.19),speed); 168 | 169 | }//driveD 170 | 171 | 172 | /* 173 | stop procedimiento de paro de los motores 174 | */ 175 | 176 | void escornabot::Stop () { 177 | 178 | for (int i=0; i<8; i++) { 179 | digitalWrite (pinMotor[i],LOW); 180 | } 181 | 182 | }//stop 183 | 184 | /* 185 | turn procedimiento para girar con vueltas 186 | */ 187 | 188 | void escornabot::turn (float laps, int speed) {//laps son el nº de vueltas a girar (+ en un sentido o - en el otro) y speed en rpm 189 | 190 | stepsDone=0; 191 | if (laps>=0) {//si las vueltas son positivas provoca giro a la derecha moviendo rueda izquierda adelante y derecha atrás 192 | while (int(laps*stepsLap)>=stepsDone) { 193 | stepsDone ++; 194 | coilPosition=stepsDone % nSteps; 195 | digitalWrite(pinMotor[0], step[coilPosition][0]); 196 | digitalWrite(pinMotor[4], step[coilPosition][0]); 197 | digitalWrite(pinMotor[1], step[coilPosition][1]); 198 | digitalWrite(pinMotor[5], step[coilPosition][1]); 199 | digitalWrite(pinMotor[2], step[coilPosition][2]); 200 | digitalWrite(pinMotor[6], step[coilPosition][2]); 201 | digitalWrite(pinMotor[3], step[coilPosition][3]); 202 | digitalWrite(pinMotor[7], step[coilPosition][3]); 203 | delayMicroseconds(tstep1rpm/speed); 204 | } 205 | 206 | } 207 | 208 | else {//si las vueltas son negativas provoca giro a la izquierda moviendo rueda derecha adelante e izquierda atrás 209 | while (int(-laps*stepsLap)>=stepsDone) { 210 | stepsDone ++; 211 | coilPosition=stepsDone % nSteps; 212 | digitalWrite(pinMotor[0], step[coilPosition][3]); 213 | digitalWrite(pinMotor[4], step[coilPosition][3]); 214 | digitalWrite(pinMotor[1], step[coilPosition][2]); 215 | digitalWrite(pinMotor[5], step[coilPosition][2]); 216 | digitalWrite(pinMotor[2], step[coilPosition][1]); 217 | digitalWrite(pinMotor[6], step[coilPosition][1]); 218 | digitalWrite(pinMotor[3], step[coilPosition][0]); 219 | digitalWrite(pinMotor[7], step[coilPosition][0]); 220 | delayMicroseconds(tstep1rpm/speed); 221 | } 222 | 223 | } 224 | 225 | }//turn 226 | 227 | /* 228 | turnA procedimiento para girar con angulo 229 | */ 230 | 231 | void escornabot::turnA (float angle, int speed) {//angle son el nº de grados a girar (+ en un sentido o - en el otro) y speed en rpm 232 | 233 | escornabot::turn (angle/360,speed); 234 | }//turnA 235 | 236 | /* 237 | *ledON procedimiento para encender leds 238 | * */ 239 | void escornabot::ledON(int ledNumber){ 240 | digitalWrite(led[ledNumber-1], HIGH); 241 | }//ledON 242 | 243 | /* 244 | * ledOFF procedimiento para apagar leds 245 | * */ 246 | void escornabot::ledOFF(int ledNumber){ 247 | digitalWrite(led[ledNumber-1], LOW); 248 | }//ledOFF 249 | 250 | /* 251 | * ledState procedimiento para ver el estado del led ledNumber 252 | */ 253 | int escornabot::ledState(int ledNumber){ 254 | return digitalRead(led[ledNumber-1]); 255 | } 256 | 257 | /* 258 | * buzzON procedimiento para encender zumbador 259 | * */ 260 | void escornabot::buzzON(){ 261 | digitalWrite(buzz,HIGH); 262 | }//buzzON 263 | 264 | /* 265 | * buzzOFF procedimiento para apagar zumbador 266 | * */ 267 | void escornabot::buzzOFF(){ 268 | digitalWrite(buzz,LOW); 269 | }//buzOFF 270 | 271 | /* 272 | * pushButton procedimiento para determinar el pulsador pulsado 273 | * */ 274 | int escornabot::pushButton(){ 275 | int value=0; 276 | if(analogRead(pushButtons)>=748 && analogRead(pushButtons)<=788) {//atras 277 | value=3; 278 | //delay(200); 279 | } 280 | else if(analogRead(pushButtons)>=492 && analogRead(pushButtons)<=532) {//adelante 281 | value=1; 282 | //delay(200); 283 | } 284 | else if(analogRead(pushButtons)>=862 && analogRead(pushButtons)<=902) {//derecha 285 | value=4; 286 | //delay(200); 287 | } 288 | else if(analogRead(pushButtons)>=663 && analogRead(pushButtons)<=703) {//izquierda 289 | value=2; 290 | //delay(200); 291 | } 292 | else if(analogRead(pushButtons)>=799 && analogRead(pushButtons)<=839) {//centro 293 | value=5; 294 | //delay(200); 295 | } 296 | else { 297 | value=0; 298 | } 299 | 300 | return value; 301 | }//pushButton 302 | 303 | /* 304 | * blueT procedimiento para saber el caracter que me han mandado por Bluetooth 305 | * */ 306 | int escornabot::blueT(){ 307 | if (Serial.available()>0) { 308 | int dato=Serial.read(); 309 | return dato; 310 | } 311 | else return 0; 312 | }//blueT 313 | 314 | /* 315 | version() procedimiento que devuelve la versión de la librería 316 | */ 317 | float escornabot::version(){ 318 | return 0.20; 319 | } 320 | 321 | //A propuesta de Antonio Gómez 322 | 323 | /* 324 | infrared procedimiento que configura los pines de los sensores infrarrojos 325 | */ 326 | void escornabot::infrared(int izq, int der){ 327 | _IRL=izq; 328 | _IRR=der; 329 | pinMode(_IRL,INPUT); 330 | pinMode(_IRR,INPUT); 331 | } 332 | 333 | /* 334 | us procedimiento que configura los pines del sensor de ultrasonidos 335 | */ 336 | void escornabot::us(int trig, int echo){ 337 | _trig=trig; 338 | _echo=echo; 339 | pinMode(_trig,OUTPUT); 340 | pinMode(_echo,INPUT); 341 | } 342 | 343 | 344 | /* 345 | distance() procedimiento que devuelve la distancia en cm del sensor de ultrasonidos 346 | */ 347 | long escornabot::distance(){ 348 | 349 | long espacio; 350 | long tiempo; 351 | digitalWrite(_trig,LOW); 352 | delayMicroseconds(4); 353 | digitalWrite(_trig,HIGH); 354 | delayMicroseconds(10); 355 | digitalWrite(_trig,LOW); 356 | tiempo=pulseIn(_echo,HIGH); 357 | espacio=tiempo/58.309037901; 358 | return espacio; 359 | } 360 | 361 | /* 362 | blackRight procedimiento que nos devuelve true o false si el sensor de ir derecho está a negro 363 | */ 364 | bool escornabot::blackRight(){ 365 | bool negro; 366 | if (digitalRead(_IRR)==1){ 367 | negro=true; 368 | } 369 | else{ 370 | negro=false; 371 | } 372 | return negro; 373 | } 374 | 375 | /* 376 | blackLeft procedimiento que nos devuelve true o false si el sensor de ir izquierdo está a negro 377 | */ 378 | bool escornabot::blackLeft(){ 379 | bool negro; 380 | if (digitalRead(_IRL)==1){ 381 | negro=true; 382 | } 383 | else{ 384 | negro=false; 385 | } 386 | return negro; 387 | } 388 | 389 | /* 390 | whiteRight procedimiento que nos devuelve true o false si el sensor de ir derecho está a blanco 391 | */ 392 | bool escornabot::whiteRight(){ 393 | bool blanco; 394 | if (digitalRead(_IRR)==1){ 395 | blanco=false; 396 | } 397 | else{ 398 | blanco=true; 399 | } 400 | return blanco; 401 | } 402 | 403 | 404 | /* 405 | whiteLeft procedimiento que nos devuelve true o false si el sensor de ir izquierdo está a blanco 406 | */ 407 | bool escornabot::whiteLeft(){ 408 | bool blanco; 409 | if (digitalRead(_IRL)==1){ 410 | blanco=false; 411 | } 412 | else{ 413 | blanco=true; 414 | } 415 | return blanco; 416 | } 417 | 418 | /* 419 | buzzer procedimiento para indicar el pin al que se conecta un zumbador 420 | */ 421 | void escornabot::buzzer(int pin){ 422 | _buzz=pin; 423 | pinMode(_buzz,OUTPUT); 424 | } 425 | 426 | /* 427 | tono procedimiento para indicar la frecuencia y duración del sonido del zumbador 428 | */ 429 | void escornabot::tono(int frequency, int time){ 430 | tone(_buzz, frequency,time); 431 | delay(time); 432 | noTone(_buzz); 433 | } 434 | -------------------------------------------------------------------------------- /escornabot/escornabot.h: -------------------------------------------------------------------------------- 1 | /* 2 | Librería escornabot por Prudencio Luna y Pedro Ruiz 3 | V 0.20 (04/09/2020): sexta versión, se le pueden colocar sensores como ultrasonidos e infrarrojos. 4 | V 0.15 (16/04/2019): quinta versión, se puede mover los motores mediante procedimiento de medio paso (tipo 3) y se corrigen fallos en constructor con parámetros para elegir modos de paso. 5 | V 0.14 (14/04/2019): cuarta versión del programa, cambiado nombre de procedimiento stop por Stop, se arregla procedimineto versión en .h, cambios en procedimiento pushButton, cambios en archivo de ejemplo. 6 | V 0.13 (07/03/2018): tercera versión del programa, incorpora control de motores paso a paso (avances, retrocesos, giros, parada) 7 | , elección del tipo de excitación de bobinas, control de leds, zumbador, botonera y bluetooth. 8 | */ 9 | 10 | #ifndef escornabot_h 11 | #define escornabot_h 12 | 13 | enum buttonLed {forward=1,left=2,backward=3,right=4,central=5}; 14 | 15 | // Descripción de la clase Escornabot 16 | class escornabot { 17 | //Definición de elementos públicos 18 | public: 19 | // constructor: 20 | escornabot();//sin pasar parámetros 21 | escornabot(int kindStep);// pasa el tipo de paso 1 (un sola bobina a la vez), paso 2 (dos bobinas a la vez) 22 | 23 | const static int numberButtons=5; 24 | const static int numberLeds=5; 25 | 26 | // procedimiento para mover los motores: 27 | void drive (float laps, int speed); 28 | //procedimiento para mover los motores por distancia 29 | void driveD (float distance, int speed); 30 | //procemiento para girar con vueltas: 31 | void turn (float laps, int speed); 32 | //procedimiento para girar con ańgulo: 33 | void turnA (float angle, int speed); 34 | // procedimiento para parar: 35 | void Stop(); 36 | //procedimiento para encender y apagar leds, y saber estado 37 | void ledON(int ledNumber); 38 | void ledOFF(int ledNumber); 39 | int ledState(int ledNumber); 40 | //procedimiento para encender y apagar el zumbador 41 | void buzzON(); 42 | void buzzOFF(); 43 | //procedimiento para saber el botón que se ha pulsado 44 | int pushButton(); 45 | //procedimiento que devuelve valor enviado por bluetooth 46 | int blueT(); 47 | //procedimiento que devuelve la versión de la librería 48 | float version(); 49 | 50 | //A propuesta de Antonio Gómez 51 | //procedimiento que configura los pines de los sensores infrarrojos 52 | void infrared(int izq,int der); 53 | //procedimiento que configura los pines del sensor de ultrasonidos 54 | void us(int trig, int echo); 55 | //procedimiento que devuelve la distancia en cm del sensor de ultrasonidos 56 | long distance(); 57 | //procedimiento que nos devuelve true o false si el sensor de ir derecho está a negro 58 | bool blackRight(); 59 | //procedimiento que nos devuelve true o false si el sensor de ir izquierdo está a negro 60 | bool blackLeft(); 61 | //procedimiento que nos devuelve true o false si el sensor de ir derecho está a blanco 62 | bool whiteRight(); 63 | //procedimiento que nos devuelve true o false si el sensor de ir izquierdo está a blanco 64 | bool whiteLeft(); 65 | //procedimiento para indicar el pin al que se conecta un zumbador 66 | void buzzer(int pin); 67 | //procedimiento para indicar la frecuencia y duración del sonido del zumbador 68 | void tono(int frequency, int time); 69 | 70 | //Definición de elementos privados 71 | private: 72 | int _trig; 73 | int _echo; 74 | int _IRR; 75 | int _IRL; 76 | int _buzz; 77 | 78 | protected: 79 | }; 80 | 81 | #endif //escornabot_h 82 | -------------------------------------------------------------------------------- /escornabot/examples/buzzer/buzzer.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot miescorni; 4 | 5 | void setup() { 6 | 7 | miescorni.buzzer(10); 8 | 9 | } 10 | 11 | void loop() { 12 | 13 | for (int x = 0; x < 1000; x = x + 100) { 14 | miescorni.tono(x, 500); 15 | } 16 | 17 | for (int x = 1000; x >=0; x = x - 100) { 18 | miescorni.tono(x, 500); 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /escornabot/examples/line_follower/line_follower.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot miescorni; 4 | boolean funciona = false; 5 | 6 | void setup() { 7 | //Serial.begin(9600); 8 | miescorni.infrared(11,12); 9 | 10 | } 11 | 12 | void loop() { 13 | 14 | compruebaBoton(); 15 | 16 | if (funciona == true) { 17 | 18 | if (miescorni.blackRight() && miescorni.whiteLeft()) {//si sensor izquierdo encuentra blanco 19 | miescorni.turnA(-5, 10);//gira hacia la derecha en el sentido contrario a la marcha 20 | } 21 | if (miescorni.whiteRight() && miescorni.blackLeft()) {//si sensor derecho encuentra blanco 22 | miescorni.turnA(5, 10);//gira hacia la izquierda en el sentido contrario a la marcha 23 | } 24 | 25 | if (miescorni.blackRight() && miescorni.blackLeft()) {//si los dos sensores encuentran negro 26 | miescorni.driveD(-2, 13);//se mueve hacia delante en el sentido contrario a la marcha 27 | } 28 | if (miescorni.whiteRight() && miescorni.whiteLeft()) {//si los dos sensores encuentran blanco 29 | miescorni.driveD(2, 13);//se mueve hacia detrás en el sentido contrario a la marcha 30 | } 31 | 32 | } 33 | 34 | else if (funciona == false) { 35 | miescorni.Stop(); 36 | } 37 | 38 | } 39 | 40 | void compruebaBoton () { 41 | if (miescorni.pushButton() == right) { 42 | funciona = !funciona; 43 | delay (300); 44 | } 45 | } 46 | -------------------------------------------------------------------------------- /escornabot/examples/test_escornabot/test_escornabot.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot mirobot;//por defecto funciona a modo paso completo con activación de una sóla bobina en cada paso (menor consumo y menor par) 4 | // si ponemos mirobot(2), se activa el modo paso completo con activación de dos bobinas a la vez en cada paso (mayor consumo y mayor par) 5 | // si ponemos mirobot(3), se activa el modo medio paso (consumo y par intermedio con los casos anteriores y movimiento más suave) 6 | 7 | boolean led1 = false; 8 | boolean led2 = false; 9 | boolean led3 = false; 10 | boolean led4 = false; 11 | boolean buzz = false; 12 | 13 | void setup() { 14 | Serial.begin (9600); 15 | } 16 | 17 | void loop() { 18 | //prueba de librería 19 | 20 | switch (mirobot.pushButton()) { 21 | 22 | case forward://si pulsamos el botón delantero, se enciende led delantero, se mueve 8 cm hacia delante, y se apaga el led delantero 23 | mirobot.ledON (forward); 24 | mirobot.driveD (8, 10); 25 | mirobot.ledOFF (forward); 26 | break; 27 | 28 | case backward://si pulsamos el botón trasero, se enciende led trasero, se mueve 8 cm hacia atrás, y se apaga el led trasero 29 | mirobot.ledON (backward); 30 | mirobot.driveD (-8, 10); 31 | mirobot.ledOFF (backward); 32 | break; 33 | 34 | case right://si pulsamos el botón derecho, se enciende led derecho, gira 45 grados hacia la derecha, y se apaga el led derecho 35 | mirobot.ledON (right); 36 | mirobot.turnA (45, 10); 37 | mirobot.ledOFF (right); 38 | break; 39 | 40 | case left://si pulsamos el botón izquierdo, se enciende led izquierdo, se mueve 45 grados hacia la izquierda, y se apaga el led izquierdo 41 | mirobot.ledON (left); 42 | mirobot.turnA (-45, 10); 43 | mirobot.ledOFF (left); 44 | break; 45 | 46 | case central://si pulsamos el botón central, suena el zumbador y se enciende todos los leds durante un segundo, después se apagan el zumbador y los leds 47 | mirobot.buzzON (); 48 | for (int i = 1; i < mirobot.numberLeds; i++) 49 | { 50 | mirobot.ledON(i); 51 | } 52 | delay (1000); 53 | mirobot.buzzOFF(); 54 | 55 | for (int i = 1; i < mirobot.numberLeds; i++) 56 | { 57 | mirobot.ledOFF(i); 58 | } 59 | break; 60 | 61 | default://otro caso, si no pulsamos nada, no se mueve el robot 62 | mirobot.driveD (0,0); 63 | break; 64 | 65 | } 66 | 67 | switch (mirobot.blueT()) {//en función del caracter emitido por bluetooth hace varias acciones 68 | case 'A': 69 | mirobot.drive (0.25, 12); 70 | break; 71 | case 'R': 72 | mirobot.drive (-0.25, 12); 73 | break; 74 | case 'D': 75 | mirobot.turn (0.125, 12); 76 | break; 77 | case 'I': 78 | mirobot.turn (-0.125, 12); 79 | break; 80 | case '1': 81 | /*led1 = !led1; 82 | if (led1) { 83 | mirobot.ledON(forward); 84 | } 85 | else { 86 | mirobot.ledOFF(forward); 87 | }*/ 88 | invierteLed(forward); 89 | break; 90 | case '2': 91 | led2 = !led2; 92 | if (led2) { 93 | mirobot.ledON(left); 94 | } 95 | else { 96 | mirobot.ledOFF(left); 97 | } 98 | break; 99 | case '3': 100 | led3 = !led3; 101 | if (led3) { 102 | mirobot.ledON(backward); 103 | } 104 | else { 105 | mirobot.ledOFF(backward); 106 | } 107 | break; 108 | case '4': 109 | led4 = !led4; 110 | if (led4) { 111 | mirobot.ledON(right); 112 | } 113 | else { 114 | mirobot.ledOFF(right); 115 | } 116 | break; 117 | case '5': 118 | buzz = !buzz; 119 | if (buzz) { 120 | mirobot.buzzON(); 121 | } 122 | else { 123 | mirobot.buzzOFF(); 124 | } 125 | break; 126 | //default: 127 | // statements 128 | } 129 | 130 | } 131 | 132 | void invierteLed(int i) { 133 | if (mirobot.ledState(i)) { 134 | mirobot.ledOFF(i); 135 | } else { 136 | mirobot.ledON(i); 137 | } 138 | } 139 | -------------------------------------------------------------------------------- /escornabot/examples/us/us.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot mirobot; 4 | 5 | boolean funciona = false; 6 | 7 | void setup() { 8 | mirobot.us(11, 12); //configuramos los pines trigger y echo 9 | } 10 | 11 | void loop() { 12 | 13 | compruebaBoton(); 14 | 15 | if (funciona == true) { 16 | 17 | 18 | mirobot.driveD(-5, 10); 19 | 20 | if (mirobot.distance() <= 15) { 21 | 22 | mirobot.driveD (5, 10); 23 | mirobot.turnA (-45, 10); 24 | 25 | } 26 | 27 | 28 | } 29 | 30 | else if (funciona == false) { 31 | mirobot.Stop(); 32 | } 33 | 34 | } 35 | 36 | void compruebaBoton () { 37 | if (mirobot.pushButton() == right) { 38 | funciona = !funciona; 39 | delay (300); 40 | } 41 | } 42 | -------------------------------------------------------------------------------- /escornabot/keywords.txt: -------------------------------------------------------------------------------- 1 | ####################################### 2 | # Syntax Coloring Map For Escornabot 3 | ####################################### 4 | # Class 5 | ####################################### 6 | 7 | escornabot KEYWORD1 8 | 9 | ####################################### 10 | # Methods and Functions 11 | ####################################### 12 | 13 | drive KEYWORD2 14 | driveD KEYWORD2 15 | turn KEYWORD2 16 | turnA KEYWORD2 17 | Stop KEYWORD2 18 | ledON KEYWORD2 19 | ledOFF KEYWORD2 20 | ledState KEYWORD2 21 | buzzON KEYWORD2 22 | buzzOFF KEYWORD2 23 | pushButton KEYWORD2 24 | blueT KEYWORD2 25 | version KEYWORD2 26 | infrared KEYWORD2 27 | blackRight KEYWORD2 28 | blackLeft KEYWORD2 29 | whiteRight KEYWORD2 30 | whiteLeft KEYWORD2 31 | us KEYWORD2 32 | distance KEYWORD2 33 | buzzer KEYWORD2 34 | tono KEYWORD2 35 | -------------------------------------------------------------------------------- /escornabot/library.properties: -------------------------------------------------------------------------------- 1 | name=escornabot 2 | version=0.2.0 3 | author=Prudencio Luna, Pedro Ruiz, Antonio Gómez 4 | maintainer= 5 | sentence=Arduino library for control of the Escornabot robot 6 | paragraph= 7 | category=Device Control 8 | url=https://github.com/escornabot/libreria-arduino 9 | architectures=* 10 | -------------------------------------------------------------------------------- /images/bt.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/escornabot/libreria-arduino/c5e71e7a7e7434fc6a381b8fd4703d919ed8bb96/images/bt.jpg -------------------------------------------------------------------------------- /images/bt_p.jpg: 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23 | -------------------------------------------------------------------------------- /manual/ejemplos/ejemplo_02/ejemplo_02.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot mirobot; 4 | 5 | void setup() { 6 | // put your setup code here, to run once: 7 | 8 | } 9 | 10 | void loop() { 11 | // put your main code here, to run repeatedly: 12 | for (int n=1; n<5;n++) { 13 | 14 | mirobot.ledON (n); 15 | delay (125); 16 | mirobot.ledOFF (n); 17 | delay (125); 18 | } 19 | 20 | 21 | mirobot.buzzON(); 22 | delay (200); 23 | mirobot.buzzOFF(); 24 | 25 | } 26 | -------------------------------------------------------------------------------- /manual/ejemplos/ejemplo_03a/ejemplo_03a.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot mirobot; 4 | 5 | void setup() { 6 | Serial.begin (9600); 7 | } 8 | 9 | void loop() { 10 | //prueba de librería 11 | 12 | if (mirobot.pushButton() == forward) { 13 | mirobot.driveD (10, 12); 14 | } 15 | else if (mirobot.pushButton() == backward) { 16 | mirobot.driveD (-10, 12); 17 | } 18 | else if (mirobot.pushButton() == right) { 19 | mirobot.turnA (90, 12); 20 | } 21 | else if (mirobot.pushButton() == left) { 22 | mirobot.turnA (-90, 12); 23 | } 24 | else if (mirobot.pushButton() == central) { 25 | mirobot.turnA (360, 12); 26 | } 27 | } 28 | -------------------------------------------------------------------------------- /manual/ejemplos/ejemplo_03b/ejemplo_03b.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot mirobot; 4 | 5 | void setup() { 6 | Serial.begin (9600); 7 | } 8 | 9 | void loop() { 10 | //prueba de librería 11 | 12 | switch (mirobot.pushButton()) { 13 | 14 | case forward://si pulsamos el botón delantero, se enciende led delantero, se mueve 7 cm hacia delante, y se apaga el led delantero 15 | mirobot.ledON (forward); 16 | mirobot.driveD (7, 10); 17 | mirobot.ledOFF (forward); 18 | break; 19 | 20 | case backward://si pulsamos el botón trasero, se enciende led trasero, se mueve 7 cm hacia atrás, y se apaga el led trasero 21 | mirobot.ledON (backward); 22 | mirobot.driveD (-7, 10); 23 | mirobot.ledOFF (backward); 24 | break; 25 | 26 | case right://si pulsamos el botón derecho, se enciende led derecho, gira 45º hacia la derecha, y se apaga el led derecho 27 | mirobot.ledON (right); 28 | mirobot.turnA (45, 10); 29 | mirobot.ledOFF (right); 30 | break; 31 | 32 | case left://si pulsamos el botón izquierdo, se enciende led izquierdo, gira 45º hacia la izquierda, y se apaga el led izquierdo 33 | mirobot.ledON (left); 34 | mirobot.turnA (-45, 10); 35 | mirobot.ledOFF (left); 36 | break; 37 | 38 | case central://si pulsamos el botón central, suena el zumbador y se enciende todos los leds durante un segundo, después se apagan el zumbador y los leds 39 | mirobot.buzzON (); 40 | for (int i = 1; i < mirobot.numberLeds; i++)//La constante mirobot.numberLeds esta definida en la librera y vale 5 41 | { 42 | mirobot.ledON(i); 43 | } 44 | delay (1000); 45 | mirobot.buzzOFF(); 46 | 47 | for (int i = 1; i < mirobot.numberLeds; i++) 48 | { 49 | mirobot.ledOFF(i); 50 | } 51 | break; 52 | 53 | default: 54 | mirobot.driveD(0,0); 55 | break; 56 | } 57 | 58 | } 59 | -------------------------------------------------------------------------------- /manual/ejemplos/ejemplo_04a/ejemplo_04a.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot mirobot; 4 | boolean buzz = false; 5 | 6 | void setup() { 7 | Serial.begin (9600); 8 | } 9 | 10 | void loop() { 11 | //prueba de librería 12 | 13 | if (mirobot.blueT() == 'A') { 14 | mirobot.driveD (10, 15); 15 | } 16 | else if (mirobot.blueT() == 'R') { 17 | mirobot.driveD (-10, 15); 18 | } 19 | else if (mirobot.blueT() == 'D') { 20 | mirobot.turnA (45, 15); 21 | } 22 | else if (mirobot.blueT() == 'I') { 23 | mirobot.turnA (-45, 15); 24 | } 25 | else if (mirobot.blueT() == 'C') { 26 | mirobot.turnA (360, 15); 27 | } 28 | else if (mirobot.blueT() == '5') { 29 | buzz = ¡buzz; 30 | if (buzz == true) { 31 | mirobot.buzzON(); 32 | } 33 | else { 34 | mirobot.buzzOFF(); 35 | } 36 | } 37 | 38 | 39 | 40 | } 41 | -------------------------------------------------------------------------------- /manual/ejemplos/ejemplo_04b/ejemplo_04b.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot mirobot; 4 | boolean led1 = false; 5 | boolean led2 = false; 6 | boolean led3 = false; 7 | boolean led4 = false; 8 | boolean buzz = false; 9 | 10 | void setup() { 11 | Serial.begin (9600); 12 | } 13 | 14 | void loop() { 15 | //prueba de librería 16 | 17 | switch (mirobot.blueT()) {//en función del caracter emitido por bluetooth hace varias acciones 18 | case 'A': 19 | mirobot.drive (0.25, 12); 20 | break; 21 | case 'R': 22 | mirobot.drive (-0.25, 12); 23 | break; 24 | case 'D': 25 | mirobot.turn (0.125, 12); 26 | break; 27 | case 'I': 28 | mirobot.turn (-0.125, 12); 29 | break; 30 | case '1': 31 | /*led1 = !led1; 32 | if (led1) { 33 | mirobot.ledON(forward); 34 | } 35 | else { 36 | mirobot.ledOFF(forward); 37 | }*/ 38 | invierteLed(forward); 39 | break; 40 | case '2': 41 | led2 = !led2; 42 | if (led2) { 43 | mirobot.ledON(left); 44 | } 45 | else { 46 | mirobot.ledOFF(left); 47 | } 48 | break; 49 | case '3': 50 | led3 = !led3; 51 | if (led3) { 52 | mirobot.ledON(backward); 53 | } 54 | else { 55 | mirobot.ledOFF(backward); 56 | } 57 | break; 58 | case '4': 59 | led4 = !led4; 60 | if (led4) { 61 | mirobot.ledON(right); 62 | } 63 | else { 64 | mirobot.ledOFF(right); 65 | } 66 | break; 67 | case '5': 68 | buzz = !buzz; 69 | if (buzz) { 70 | mirobot.buzzON(); 71 | } 72 | else { 73 | mirobot.buzzOFF(); 74 | } 75 | break; 76 | //default: 77 | // statements 78 | } 79 | 80 | } 81 | 82 | void invierteLed(int i){ 83 | if (mirobot.ledState(i)) { 84 | mirobot.ledOFF(i); 85 | } else { 86 | mirobot.ledON(i); 87 | } 88 | } 89 | -------------------------------------------------------------------------------- /manual/ejemplos/ejemplo_05a/ejemplo_05a.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot mirobot; 4 | boolean funciona = false; 5 | 6 | void setup() { 7 | mirobot.us(11, 12); //configuramos los pines trigger y echo 8 | } 9 | 10 | void loop() { 11 | 12 | compruebaBoton(); 13 | 14 | if (funciona == true) { 15 | 16 | 17 | mirobot.driveD(-5, 10); 18 | 19 | if (mirobot.distance() <= 15) { 20 | 21 | mirobot.driveD (5, 10); 22 | mirobot.turnA (-45, 10); 23 | 24 | } 25 | 26 | } 27 | 28 | else if (funciona == false) { 29 | mirobot.Stop(); 30 | } 31 | 32 | } 33 | 34 | void compruebaBoton () { 35 | if (mirobot.pushButton() == right) { 36 | funciona = !funciona; 37 | delay (300); 38 | } 39 | } 40 | -------------------------------------------------------------------------------- /manual/ejemplos/ejemplo_06a/ejemplo_06a.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot miescorni; 4 | boolean funciona = false; 5 | 6 | void setup() { 7 | //Serial.begin(9600); 8 | miescorni.infrared(11,12); 9 | 10 | } 11 | 12 | void loop() { 13 | 14 | compruebaBoton(); 15 | 16 | if (funciona == true) { 17 | 18 | if (miescorni.blackRight() && miescorni.whiteLeft()) {//si sensor izquierdo encuentra blanco 19 | miescorni.turnA(-5, 10);//gira hacia la derecha en el sentido contrario a la marcha 20 | } 21 | if (miescorni.whiteRight() && miescorni.blackLeft()) {//si sensor derecho encuentra blanco 22 | miescorni.turnA(5, 10);//gira hacia la izquierda en el sentido contrario a la marcha 23 | } 24 | 25 | if (miescorni.blackRight() && miescorni.blackLeft()) {//si los dos sensores encuentran negro 26 | miescorni.driveD(-2, 13);//se mueve hacia delante en el sentido contrario a la marcha 27 | } 28 | if (miescorni.whiteRight() && miescorni.whiteLeft()) {//si los dos sensores encuentran blanco 29 | miescorni.driveD(2, 13);//se mueve hacia detrás en el sentido contrario a la marcha 30 | } 31 | 32 | } 33 | 34 | else if (funciona == false) { 35 | miescorni.Stop(); 36 | } 37 | 38 | } 39 | 40 | void compruebaBoton () { 41 | if (miescorni.pushButton() == right) { 42 | funciona = !funciona; 43 | delay (300); 44 | } 45 | } 46 | -------------------------------------------------------------------------------- /manual/ejemplos/ejemplo_07a/ejemplo_07a.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | escornabot miescorni; 4 | 5 | void setup() { 6 | 7 | miescorni.buzzer(10); 8 | 9 | } 10 | 11 | void loop() { 12 | 13 | for (int x = 0; x < 1000; x = x + 100) { 14 | miescorni.tono(x, 500); 15 | } 16 | 17 | for (int x = 1000; x >=0; x = x - 100) { 18 | miescorni.tono(x, 500); 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /manual/ejemplos/escornabot_clasico/escornabot_clasico.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | 4 | int acciones[20]; 5 | escornabot mirobot; 6 | int pulsaciones = 0; 7 | int n; 8 | 9 | void setup() { 10 | // put your setup code here, to run once: 11 | Serial.begin(9600); 12 | } 13 | 14 | void loop() { 15 | // put your main code here, to run repeatedly: 16 | if (mirobot.pushButton() == forward) { 17 | acciones[pulsaciones] = 1; 18 | pulsaciones = pulsaciones + 1; 19 | delay (200); 20 | } 21 | else if (mirobot.pushButton() == backward) { 22 | acciones[pulsaciones] = 2; 23 | pulsaciones = pulsaciones + 1; 24 | delay (200); 25 | } 26 | else if (mirobot.pushButton() == left) { 27 | acciones[pulsaciones] = 3; 28 | pulsaciones = pulsaciones + 1; 29 | delay (200); 30 | } 31 | else if (mirobot.pushButton() == right) { 32 | 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