Wiring Diagrams

[jody]

The wiring diagrams for the Pi-Bot, really helped when assembling the Pi-Bot.

This diagram was very helpful in getting my ultrasonic sensor working.

[011235813]

Most STEM Board pins are taken. Digital pin 9 is the only vacant pin. You can also use analog pins. The important thing to keep in mind is that you need PWM pins (3, 5, 6 and 11) for motors.

[jody]

I was a bit confused about the placement of wires onto the breadboard, the wiring terminology is all new to me. I was a bit confused about the added wiring needed for the advanced line following code, but I was able to figure it out.

I am currently using A0 analog pin, for the advanced line following code.

My next challenge is writing programs, I haven't done that yet.

[AdvancedLineFollowing]

// AdvancedLineFollowing.ino

const int Line1 = 7; // Left Line Sensor
const int Line2 = 8; // Center Line Sensor
const int Line3 = 10; // Right Sensor

const int In1 = 3; // In1
const int In2 = 5; // In2
const int In3 = 6; // In3
const int In4 = 11; // In4
const int batPin = A0;

#define num 6

void setup()
{
// initialize the pins
pinMode(In1, OUTPUT);
pinMode(In2, OUTPUT);
pinMode(In3, OUTPUT);
pinMode(In4, OUTPUT);
pinMode(Line1, INPUT);
pinMode(Line2, INPUT);
pinMode(Line3, INPUT);
Serial.begin(9600);
}

void loop()
{
int rLED[num], cLED[num], lLED[num];
int lSum, cSum, rSum;
int fast;
int speed1;
int speed2;
float scale1, scale2, scale3;
boolean debugPrint;
int L1, L2, L3;
int batVoltage;

for(int i=0; i<num; i++)
{
rLED=0;
cLED=1;
lLED=0;
}
rSum = 0;
cSum = 0;
lSum = 0;
//************ Turn on debuging here ****************
//debugPrint = true;
debugPrint = false;
//***************************************************
delay(100);
forward(0, 0);
while(1==1)
{
batVoltage = analogRead(batPin);
L1 = digitalRead(Line1);
L2 = digitalRead(Line2);
L3 = digitalRead(Line3);
if ((L1 == 1) && (L2 == 1) && (L3 ==1))
{
speed1 = 0;
speed2 = 0;
forward(speed1, speed2);
if(debugPrint)
{
Serial.println("In Lift Mode");
}
}
else if ((L1 != 0) || (L2 != 0) || (L3 !=0))
{
rSum = 0;
cSum = 0;
lSum = 0;
for(int i=0; i<num-1; i++)
{
rLED=rLED[i+1];
cLED=cLED[i+1];
lLED=lLED[i+1];
}

rLED[num-1]=L1;
cLED[num-1]=L2;
lLED[num-1]=L3;

for(int i=0; i<num; i++)
{
rSum = rSum + rLED * (8-i);
cSum = cSum + cLED * (8-i);
lSum = lSum + lLED * (8-i);
}

if(debugPrint)
{
Serial.println("");
Serial.print(L1);
Serial.print(", ");
Serial.print(L2);
Serial.print(", ");
Serial.println(L3);
Serial.print(rSum);
Serial.print(", ");
Serial.print(cSum);
Serial.print(", ");
Serial.println(lSum);
}
scale1= (float) rSum + (float) cSum;
scale2= (float) lSum + (float) cSum;
scale3= (float) lSum + cSum + rSum;

fast= 80000. / (float) batVoltage;

if(rSum > lSum)
{
speed1 = fast;
speed2 = scale2/scale1 * fast;
}
else
{
speed2 = fast;
speed1 = scale1/scale2 * fast;
}

forward(speed1, speed2);

if(debugPrint)
{
Serial.print(scale1);
Serial.print(", ");
Serial.println(scale2);
Serial.print(speed1);
Serial.print(", ");
Serial.println(speed2);
Serial.print("battery Voltage = ");
Serial.println(batVoltage);
Serial.print("fast = ");
Serial.println(speed2);
delay(500);
}
}
}
}

void reverse(int speed1, int speed2)
{
analogWrite(In4, speed1);
analogWrite(In3, 0);
analogWrite(In2, speed2);
analogWrite(In1, 0);
return;
}

void forward (int speed1, int speed2)
{
analogWrite(In4, 0);
analogWrite(In3, speed1);
analogWrite(In2, 0);
analogWrite(In1, speed2);
return;
}

void stopNow()
{
analogWrite(In4, 0);
analogWrite(In3, 0);
analogWrite(In2, 0);
analogWrite(In1, 0);
return;
}

[jody]

Is there a wiring diagram, that includes the USS LED's and the added jumper for the advanced line following. 

Terminology:
Motor (H-Bridge) Controller - Refers to the Rectangular Electronic Chip (green) placed on the breadboard (mine is white).

[jasea]

jody, I have attached a breadboard and Schematic of the Ultrasound sensor connections. I can't add the link, as I can't find a part for the motor driver, but it goes from pin 15 of the motor driver, this is the pin that connects to the motor battery via the switch, ( see the diagram on page 2 of " Pi-Bot - Wiring and Programming Your Basic Pi-Bot.pdf" in the downloads section) to pin A0 on the Stem board.


USS Breadboard.pdf (711.62 KB)USS Schematic.pdf (424.59 KB)

[MFinnerdruts]

hi to all! give me plzase funny cats videoxs on yourtube

[MFinnerdruts]

hi to all! give me plzase funny cats videoxs on yourtube

[MFinnerdruts]

hi to all! give me plzase funny cats videoxs on yourtube

[MFinnerdruts]

hi to all! give me plkase funny cats videods on yourtube

[MFinnerdruts]

hi to all! give me plkase funny cats videods on yourtube

[MFinnerdruts]

hi to all! give me plkase funny cats videods on yourtube

[MFinnerdruts]

hi to all! give me plrase funny cats videozs on yourtube

[MFinnerdruts]

hi to all! give me plrase funny cats videozs on yourtube

[MFinnerdruts]

hi to all! give me plrase funny cats videozs on yourtube