OBR Regional by Pedro Lucas https://padlet.com/pl1997433/lrqh6c1boeq9l6g0 en-us 2023-09-06 20:23:16 UTC 2024-12-18 23:00:26 UTC hello@padlet.com pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/2942215014 void setup() { digitalWrite(4,0); digitalWrite(7,0); digitalWrite(8,0); digitalWrite(9,0); } void loop() { ///////////////////////////// digitalWrite(7,0); digitalWrite(8,1); digitalWrite(4,0); digitalWrite(9,1); analogWrite(5,200); analogWrite(6,200); //////////////////////////////// /* digitalWrite(7,0); digitalWrite(8,1); digitalWrite(4,0); digitalWrite(9,1); analogWrite(5,255); analogWrite(6,255); delay (2000); */ }]]> 2024-04-03 19:32:07 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/2942215014 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/2965328759 #define e1 53 #define e2 52 #define d1 50 #define d2 51 void setup() { Serial.begin(9600); pinMode(e1,INPUT); pinMode(e2,INPUT); pinMode(d1,INPUT); pinMode(d2,INPUT); } void loop() { bool esquerda1 = digitalRead(e1); bool esquerda2 = digitalRead(e2); bool direita1 = digitalRead(d1); bool direita2 = digitalRead(d2); if(esquerda1 == 1 && direita1 == 0){ direita(); }else if(esquerda1 == 0 && direita1 == 1){ esquerda(); } if(esquerda2 == 0 && direita2 == 0){ frente(); }else if(esquerda2 == 0 && direita2 == 1){ esquerda(); }else if(esquerda2 == 1 && direita2 == 0){ direita(); }else if(esquerda2 == 1 && direita2 == 1){ parar(); } } void frente(){ digitalWrite(7,0); digitalWrite(8,1); digitalWrite(4,0); digitalWrite(9,1); analogWrite(5,200); analogWrite(6,200); } void direita(){ digitalWrite(7,0); digitalWrite(8,1); digitalWrite(4,0); digitalWrite(9,0); analogWrite(5,200); analogWrite(6,200); } void esquerda(){ digitalWrite(7,0); digitalWrite(8,0); digitalWrite(4,0); digitalWrite(9,1); analogWrite(5,200); analogWrite(6,200); } void parar(){ digitalWrite(7,0); digitalWrite(8,0); digitalWrite(4,0); digitalWrite(9,0); analogWrite(5,0); analogWrite(6,0); } ]]> 2024-04-22 22:40:11 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/2965328759 Codigo segir linha pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/2972182986 #define e1 53 #define e2 52 #define d1 50 #define d2 51 void setup() { Serial.begin(9600); pinMode(e1,INPUT); pinMode(e2,INPUT); pinMode(d1,INPUT); pinMode(d2,INPUT); } void loop() { bool esquerda1 = digitalRead(e1); bool esquerda2 = digitalRead(e2); bool direita1 = digitalRead(d1); bool direita2 = digitalRead(d2); if(esquerda1 == 0 && direita1 == 1){ esquerda(); delay(300); } if(esquerda1 == 1 && direita1 == 0){ direita(); delay(300); } if(esquerda2 == 0 && direita2 == 0){ frente(); }if(esquerda2 == 0 && direita2 == 1){ esquerda(); } if(esquerda2 == 1 && direita2 == 0){ direita(); } if(esquerda2 == 1 && direita2 == 1){ parar(); } } void frente(){ digitalWrite(7,0); digitalWrite(8,1); digitalWrite(4,0); digitalWrite(9,1); analogWrite(5,170); analogWrite(6,170); } void direita(){ digitalWrite(7,0); digitalWrite(8,1); digitalWrite(4,1); digitalWrite(9,0); analogWrite(5,170); analogWrite(6,170); } void esquerda(){ digitalWrite(7,1); digitalWrite(8,0); digitalWrite(4,0); digitalWrite(9,1); analogWrite(5,170); analogWrite(6,170); } void parar(){ digitalWrite(7,0); digitalWrite(8,0); digitalWrite(4,0); digitalWrite(9,0); analogWrite(5,0); analogWrite(6,0); }]]> 2024-04-27 21:06:33 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/2972182986 GIROSCOPIO 01 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/2998068066 #include <MPU6050_tockn.h> #include <Wire.h> int valor = 0; MPU6050 mpu6050(Wire); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); } void loop() { mpu6050.update(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); Serial.println(angulo); //analogWrite(7,150); //analogWrite(6,150); if(valor == 0){ if(angulo <= -37 && angulo >= -70){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(500); valor = 1; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 1){ if(angulo <= -100 && angulo >= -170){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 2; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 2){ digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); } } ]]> 2024-05-18 01:01:55 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/2998068066 Parte 03 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3014333987 Nessa parte todos de forma sincronizada irão fazer os "passos laterais"

]]> 2024-05-31 11:25:32 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3014333987 ROBO 02 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3021391003 /* Angulos + Velocidades: ROBO 01 Velocidade = Angulo 00 = Angulo 01 = ROBO 02 Velocidade_01 = 180 Velocidade_02 = 200 Velocidade_rotação = 150 Angulo 00 = (<= -90) Angulo 01 = (>= -40) ROBO 03 Velocidade = Angulo 00 = Angulo 01 = Angulo 02 = Angulo 03 = _________________________________________ */ #define velocidade_01 180 #define velocidade_02 200 #define velocidade_rotacao 150 #define ang0 -90 #define ang1 -40 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); //delay(5000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia); //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ if(distancia >= 10){ valor = 1; delay(1000); } } if(valor == 1){ Serial.print("pronto"); analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang0){ digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 2; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } //-120 -250 if(valor == 2){ Serial.println("parte 01"); analogWrite(7,velocidade_01); analogWrite(6,velocidade_01); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 3; delay(1000); } if(valor == 3){ Serial.println("parte 02"); analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang1){ digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 4; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 4){ Serial.println("parte 03"); analogWrite(7,velocidade_02); analogWrite(6,velocidade_02); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 5; delay(1000); } }

]]> 2024-06-07 14:33:37 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3021391003 SCRIPT GERAL (NAO APAGAR) https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3025867380 #include <MPU6050_tockn.h> #include <Wire.h> int valor = 0; MPU6050 mpu6050(Wire); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); // pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); delay(5000); } void loop() { mpu6050.update(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); Serial.println(angulo); analogWrite(2,160); analogWrite(3,160); //-100 100 if(valor == 0){ if(angulo <= -80){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 1; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 1){ if(angulo >= 80){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 2; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 2){ if(angulo <= -80){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 3; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 3){ if(angulo >= 80){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 4; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 4){ if(angulo <= 0){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } } ]]> 2024-06-12 13:03:33 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3025867380 Código Base (não apagar) https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3026108759 #include <MPU6050_tockn.h> #include <Wire.h> int valor = 0; MPU6050 mpu6050(Wire); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(53,OUTPUT); pinMode(52,OUTPUT); pinMode(51,OUTPUT); pinMode(50,OUTPUT); delay(5000); } void loop() { mpu6050.update(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); Serial.println(angulo); //-100 100 // <-20 >20 if(valor == 0){ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, HIGH); digitalWrite(50, LOW); delay(1000); digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(500); valor = 1; } if(valor == 1){ if(angulo >= 350){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); valor = 2; }else{ digitalWrite(53, LOW); digitalWrite(52, HIGH); digitalWrite(51, HIGH); digitalWrite(50, LOW); } } } ]]> 2024-06-12 18:21:17 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3026108759 Manual Robótica Artística pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3026195609 2024-06-12 21:09:30 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3026195609 codigo piscar leds https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3032318146 //TESTE LED pinMode(13,OUTPUT); delay(2000); digitalWrite(13,HIGH); delay(2000); digitalWrite(13,LOW); delay(1000); //TESTE LED]]> 2024-06-19 12:35:24 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3032318146 Parte 01 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3035203606 No inicio, todos ficarão em fileira de modo que todos fiquem totalmente posicionados um na frente do outro, pois o inicio de seus movimentos ocorrerão a partir da leitura dos sensores ultrassónicos

]]> 2024-06-23 00:18:55 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3035203606 Parte 02 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3035204340 nessa parte o primeiro robo começará o movimento, com isso o segundo robo percebera que a distancia que seu sensor está lendo é maior que antes logo começará a se mover.


OBS: cada robo fará um movimento por vez, pois há a questao do sensor ultrassonico, nao sendo possivel o segundo e terceiro robo se moverem ao mesmo tempo

]]> 2024-06-23 00:23:16 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3035204340 Parte 04 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3035205318 nessa parte eu irei apontar para um robo e apenas este ira dançar, depois aponto para o proximo e para o ultimo depois


OBS: ao ser apontado por mim, cada robo deve fazer um passo de dança único

]]> 2024-06-23 00:28:23 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3035205318 Parte 05 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3035206832 nessa parte os robos irao virar na minha direção e irao se aproximar, a musica irá mudar, tocando uma musica de medo e de hacker, com isso a apresentação irá acabar e musica tambem, nessa sena eu vou atuar onde vou pegar um controle remoto do bolso para desligar os robos, mas nao vou conseguir, com isso eles continuam vindo na minha direção.

]]> 2024-06-23 00:37:52 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3035206832 ROBO 03 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3053921456 /* Angulos + Velocidades: ROBO 01 Velocidade = Angulo 00 = Angulo 01 = ROBO 02 Velocidade_01 = 180 Velocidade_02 = 200 Velocidade_rotação = 150 Angulo 00 = (<= -90) Angulo 01 = (>= -40) ROBO 03 Velocidade_01 = 180 Velocidade_02 = 200 Velocidade_rotação = 150 Angulo 00 = (<= 90) Angulo 01 = (>= 0) _________________________________________ */ #define velocidade_01 180 #define velocidade_02 200 #define velocidade_rotacao 150 #define ang0 90 #define ang1 0 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); //delay(5000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia); //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ if(distancia >= 10){ valor = 1; delay(1000); } } if(valor == 1){ Serial.print("pronto"); analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang0){//angulo inicial = 0 digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 2; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } //-120 -250 if(valor == 2){ Serial.println("parte 01"); analogWrite(7,velocidade_01); analogWrite(6,velocidade_01); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 3; delay(1000); } if(valor == 3){ Serial.println("parte 02"); analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang1){ digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 4; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 4){ Serial.println("parte 03"); analogWrite(7,velocidade_02); analogWrite(6,velocidade_02); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 5; delay(1000); } } ]]> 2024-07-15 22:56:36 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3053921456 ROBO 01 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3053924263 /* Angulos + Velocidades: ROBO 01 Velocidade_01 = 180 Angulo 00 = Angulo 01 = ROBO 02 Velocidade_01 = 180 Velocidade_02 = 200 Velocidade_rotação = 150 Angulo 00 = (<= -90) Angulo 01 = (>= -40) ROBO 03 Velocidade_01 = 180 Velocidade_02 = 200 Velocidade_rotação = 150 Angulo 00 = (<= 90) Angulo 01 = (>= 0) _________________________________________ */ #define velocidade_01 180 #define velocidade_02 200 #define velocidade_rotacao 150 #define ang0 0 #define ang1 0 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); delay(3000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia);//!!!!LEMBRE PEDRO DE COMENTAR O QUE NAO ESTA SENDO USADO !!!!!!!! VAI QUE ISSO PODE ATRAPALHAR O ROBO ?!! //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ //Serial.println("parte 03"); analogWrite(7,velocidade_01); analogWrite(6,velocidade_01); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 1; delay(1000); } } ]]> 2024-07-15 23:06:02 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3053924263 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3053925102 Angulos + Velocidades: ROBO 01 Velocidade_01 = 180 Velocidade_rotação = 160 Angulo 00 = (<= -80) Angulo 01 = (>= 80) Angulo 02 = (<= -80) Angulo 03 = (>= 80) Angulo 04 = (<= 0) Angulo 05 = (>= 180) Angulo 06 = (<= 0) Angulo 07 = (>= 180) ROBO 02 Velocidade_01 = 180 Velocidade_02 = 200 Velocidade_rotação = 160 Angulo 00 = (<= -90) Angulo 01 = (>= -40) Angulo 02 = (<= -80) Angulo 03 = (>= 80) Angulo 04 = (<= -80) Angulo 05 = (>= 80) Angulo 06 = (<= 0) Angulo 07 = (>= 180) Angulo 08 = (<= 0) Angulo 09 = (>= 90) ROBO 03 Velocidade = 180 Velocidade_rotação = 160 Angulo 00 = (<= 90) Angulo 01 = (>= -30) Angulo 02 = (<= -200) Angulo 03 = (>= 80) Angulo 04 = (<= -200) Angulo 05 = (>= 80) Angulo 06 = (<= -30) Angulo 07 = (>= 180) Angulo 08 = (<= -30) Angulo 09 = (<= -200) _________________________________________ ]]> 2024-07-15 23:08:58 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3053925102 ROBO 01,02,03 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3053939156 #define velocidade_01 180 #define velocidade_02 180 #define velocidade_rotacao 160 #define ang0 0 #define ang1 0 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); delay(3000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia);//!!!!LEMBRE PEDRO DE COMENTAR O QUE NAO ESTA SENDO USADO !!!!!!!! VAI QUE ISSO PODE ATRAPALHAR O ROBO ?!! //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= -80){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 1; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 1){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= 80){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 2; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 2){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= -80){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 3; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 3){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= 80){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 4; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 4){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= 0){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } } ]]> 2024-07-15 23:40:48 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3053939156 Robo 01, 02, 03 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3055056052 #define velocidade_01 180 #define velocidade_02 180 #define velocidade_rotacao 160 #define ang0 180 #define ang1 0 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); delay(3000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia);//!!!!LEMBRE PEDRO DE COMENTAR O QUE NAO ESTA SENDO USADO !!!!!!!! VAI QUE ISSO PODE ATRAPALHAR O ROBO ?!! //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang0){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 1; }else{ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, HIGH); } } if(valor == 1){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang1){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 1; }else{ digitalWrite(53, LOW); digitalWrite(52, HIGH); digitalWrite(51, HIGH); digitalWrite(50, LOW); } } } ]]> 2024-07-17 00:49:03 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3055056052 Robo 01 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057413479 #define velocidade_01 180 #define velocidade_02 180 #define velocidade_rotacao 160 #define ang0 180 #define ang1 0 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); delay(3000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia);//!!!!LEMBRE PEDRO DE COMENTAR O QUE NAO ESTA SENDO USADO !!!!!!!! VAI QUE ISSO PODE ATRAPALHAR O ROBO ?!! //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang0){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 1; }else{ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, HIGH); } } }]]> 2024-07-19 10:47:55 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057413479 Robo 02 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057415295 #define velocidade_01 180 #define velocidade_02 180 #define velocidade_rotacao 160 #define ang0 90 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); delay(3000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia);//!!!!LEMBRE PEDRO DE COMENTAR O QUE NAO ESTA SENDO USADO !!!!!!!! VAI QUE ISSO PODE ATRAPALHAR O ROBO ?!! //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang0){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 1; }else{ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, HIGH); } } }]]> 2024-07-19 10:52:49 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057415295 Robo 03 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057418213 #define velocidade_01 180 #define velocidade_02 180 #define velocidade_rotacao 160 #define ang0 -90 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); delay(3000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia);//!!!!LEMBRE PEDRO DE COMENTAR O QUE NAO ESTA SENDO USADO !!!!!!!! VAI QUE ISSO PODE ATRAPALHAR O ROBO ?!! //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang0){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 1; }else{ digitalWrite(53, LOW); digitalWrite(52, HIGH); digitalWrite(51, HIGH); digitalWrite(50, LOW); } } }]]> 2024-07-19 11:01:27 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057418213 Código completo pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057642976 /* ROBO 01 Velocidade = 180 Velocidade_rotação = 160 Angulo 00 = (<= -80) Angulo 01 = (>= 80) Angulo 02 = (<= -80) Angulo 03 = (>= 80) Angulo 04 = (<= 0) Angulo 05 = (>= 180) Angulo 06 = (<= 0) Angulo 07 = (>= 180) */ #define velocidade 180 #define velocidade_rotacao 160 #define ang0 -80 #define ang1 80 #define ang2 -80 #define ang3 80 #define ang4 0 #define ang5 180 #define ang6 0 #define ang7 180 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); delay(3000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia);//!!!!LEMBRE PEDRO DE COMENTAR O QUE NAO ESTA SENDO USADO !!!!!!!! VAI QUE ISSO PODE ATRAPALHAR O ROBO ?!! //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ //Serial.println("parte 03"); analogWrite(7,velocidade); analogWrite(6,velocidade); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 1; delay(1000); } if(valor == 1){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang0){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 2; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 2){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang1){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 3; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 3){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang2){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 4; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 4){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang3){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 5; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 5){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang4){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 6; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 6){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang5){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 7; }else{ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, HIGH); } } if(valor == 7){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang6){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 8; }else{ digitalWrite(53, LOW); digitalWrite(52, HIGH); digitalWrite(51, HIGH); digitalWrite(50, LOW); } } if(valor == 8){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang7){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 9; }else{ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, HIGH); } } } ]]> 2024-07-19 23:46:14 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057642976 Código completo pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057836840 /* ROBO 02 Velocidade = 180 Velocidade_rotação = 160 Angulo 00 = (<= -90) Angulo 01 = (>= -40) Angulo 02 = (<= -80) Angulo 03 = (>= 80) Angulo 04 = (<= -80) Angulo 05 = (>= 80) Angulo 06 = (<= 0) Angulo 07 = (>= 180) Angulo 08 = (<= 0) Angulo 09 = (>= 90) */ #define velocidade 180 #define velocidade_rotacao 160 #define ang0 -90 #define ang1 -40 #define ang2 -80 #define ang3 80 #define ang4 -80 #define ang5 80 #define ang6 0 #define ang7 180 #define ang8 0 #define ang9 90 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); //delay(5000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia); //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ if(distancia >= 10){ valor = 1; delay(1000); } } if(valor == 1){ Serial.print("pronto"); analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang0){ digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 2; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } //-120 -250 if(valor == 2){ Serial.println("parte 01"); analogWrite(7,velocidade); analogWrite(6,velocidade); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 3; delay(1000); } if(valor == 3){ Serial.println("parte 02"); analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang1){ digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 4; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 4){ Serial.println("parte 03"); analogWrite(7,velocidade); analogWrite(6,velocidade); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 5; delay(1000); } if(valor == 5){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang2){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 6; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 6){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang3){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 7; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 7){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang4){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 8; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 8){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang5){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 9; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 9){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang6){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 10; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 10){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang7){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 11; }else{ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, HIGH); } } if(valor == 11){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang8){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 12; }else{ digitalWrite(53, LOW); digitalWrite(52, HIGH); digitalWrite(51, HIGH); digitalWrite(50, LOW); } } if(valor == 12){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang9){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); }else{ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, HIGH); } } } ]]> 2024-07-20 13:42:02 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3057836840 Código completo pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3058271795 /* ROBO 03 Velocidade = 180 Velocidade_rotação = 160 Angulo 00 = (<= 90) Angulo 01 = (>= -30) Angulo 02 = (<= -200) Angulo 03 = (>= 80) Angulo 04 = (<= -200) Angulo 05 = (>= 80) Angulo 06 = (<= -30) Angulo 07 = (>= 180) Angulo 08 = (<= -30) Angulo 09 = (<= -200) */ #define velocidade 180 #define velocidade_rotacao 160 #define ang0 90 #define ang1 -30 #define ang2 -200 #define ang3 80 #define ang4 -200 #define ang5 80 #define ang6 -30 #define ang7 180 #define ang8 -30 #define ang9 -200 #include <MPU6050_tockn.h> #include <Wire.h> #include <HCSR04.h> int valor = 0; MPU6050 mpu6050(Wire); UltraSonicDistanceSensor distance(48,49); void setup() { Serial.begin(9600); Wire.begin(); mpu6050.begin(); //mpu6050.calcGyroOffsets(true); pinMode(7,OUTPUT); pinMode(6,OUTPUT); pinMode(2,OUTPUT); pinMode(3,OUTPUT); //velocidade Motor pinMode(7,OUTPUT); pinMode(6,OUTPUT); //delay(5000); //Modo velocidade do motor analogWrite(7,0); analogWrite(6,0); } void loop() { mpu6050.update(); float distancia = distance.measureDistanceCm(); int angulo = mpu6050.getAngleZ(); //Serial.print("angleX : "); //Serial.print(mpu6050.getAngleX()); //Serial.print("\tangleY : "); //Serial.print(mpu6050.getAngleY()); //Serial.print("\tangleZ : "); //Serial.println(angulo); Serial.print(distancia); //-100 100 //03 muito rapido //01 02 perfeito if(valor == 0){ if(distancia >= 20){ valor = 1; delay(1000); } } if(valor == 1){ Serial.print("pronto"); analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang0){//angulo inicial = 0 digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 2; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } //-120 -250 if(valor == 2){ Serial.println("parte 01"); analogWrite(7,velocidade); analogWrite(6,velocidade); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 3; delay(1000); } if(valor == 3){ Serial.println("parte 02"); analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang1){ digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 4; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 4){ Serial.println("parte 03"); analogWrite(7,velocidade); analogWrite(6,velocidade); digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,HIGH); digitalWrite(50,LOW); delay(1000); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); valor = 5; delay(1000); } if(valor == 5){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang2){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 6; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 6){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang3){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 7; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 7){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang4){ Serial.println("parte 1"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 8; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } if(valor == 8){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang5){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 9; }else{ digitalWrite(53,HIGH); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,HIGH); } } if(valor == 9){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang6){ Serial.println("100"); digitalWrite(53,LOW); digitalWrite(52,LOW); digitalWrite(51,LOW); digitalWrite(50,LOW); delay(800); valor = 10; }else{ digitalWrite(53,LOW); digitalWrite(52,HIGH); digitalWrite(51,HIGH); digitalWrite(50,LOW); } } //AQUI if(valor == 10){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo >= ang7){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 11; }else{ digitalWrite(53, HIGH); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, HIGH); } } if(valor == 11){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang8){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); valor = 12; }else{ digitalWrite(53, LOW); digitalWrite(52, HIGH); digitalWrite(51, HIGH); digitalWrite(50, LOW); } } //AQUI if(valor == 12){ analogWrite(7,velocidade_rotacao); analogWrite(6,velocidade_rotacao); if(angulo <= ang9){ digitalWrite(53, LOW); digitalWrite(52, LOW); digitalWrite(51, LOW); digitalWrite(50, LOW); delay(1000); }else{ digitalWrite(53, LOW); digitalWrite(52, HIGH); digitalWrite(51, HIGH); digitalWrite(50, LOW); } } }]]> 2024-07-22 00:31:20 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3058271795 ROBO 03 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3092896412 2024-08-28 23:28:22 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3092896412 ROBO 02 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3092896655 2024-08-28 23:28:44 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3092896655 ROBO 01 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3092896758 2024-08-28 23:28:53 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3092896758 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3176852312 2024-10-19 02:54:41 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3176852312 pl1997433 https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3176852328 2024-10-19 02:54:44 UTC https://padlet.com/pl1997433/lrqh6c1boeq9l6g0/wish/3176852328