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Научно-популярный образовательный ресурс для юных и начинающих радиолюбителей - Popular science educational resource for young and novice hams Основы электричества, учебные материалы и опыт профессионалов - Basics of electricity, educational materials and professional experience |
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JUNIOR RADIO 
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Используйте Arduino, два небольших серводвигателя со светочувствительными фоторезисторами, чтобы направить солнечную панель навстречу солнцу
Двигатели делают небольшие движения, чтобы попытаться направить солнечную панель на самый яркий свет.
Также имеется многоцветный светодиод, показывающий, включена система или нет. И две кнопки для включения / выключения двигателей.
Есть несколько процедур, которые можно использовать для перемещения двигателей в заданные положения. Команды передаются через интерфейс последовательного порта и серию числовых кодов / команд, которые могут быть отправлены на Arduino Uno.
Команды независимого перемещения запрограммированы таким образом, чтобы обеспечивать (в некоторой степени) плавные движения вместо команд немедленного перемещения, которые вызывают резкое движение механического механизма.
Детали
https://hacksterio.s3.amazonaws.com/uploads/attachments/484083/q2_assembly_details_RCbi893qzA.zip
Схемы
https://hacksterio.s3.amazonaws.com/uploads/attachments/484081/q2_schematic_TVp7kakwNa.fzz
Код
//Scott Mangiacotti
//Tucson, Arizona USA
//May 2018
//Q2
//Version 2.0
#include <Servo.h>
//Constants
int const GIVE_BACK_TIME = 125;
//Constants for inputs
int const I_RED_BUTTON_PIN = 4;
int const I_GREEN_BUTTON_PIN = 2;
int const I_LDR1_PIN = A3; //top left
int const I_LDR2_PIN = A2; //top right
int const I_LDR3_PIN = A1; //bottom left
int const I_LDR4_PIN = A0; //bottom right
//Constants for outputs
int const O_RED_LED_PIN = 9;
int const O_GREEN_LED_PIN = 11;
int const O_BLUE_LED_PIN = 10;
int const O_TWIST_SERVO_PIN = 5;
int const O_TILT_SERVO_PIN = 6;
//Global variables
bool gRunning = false;
bool gTrackToLightEnabled = false;
bool gVerboseDiagMode = false;
Servo gServoTwist;
int gServoTwistPositionCommand; //commanded position
bool gServoTwistMoveIP; //move in progress
Servo gServoTilt;
bool gServoTiltMoveIP; //move in progress
int gServoTiltPositionCommand; //commanded position
int gLDR1;
int gLDR2;
int gLDR3;
int gLDR4;
//Runs once
void setup()
{
//Open a serial port
Serial.begin(9600);
//Setup digital inputs
pinMode(I_RED_BUTTON_PIN, INPUT);
pinMode(I_GREEN_BUTTON_PIN, INPUT);
//Setup digital outputs
pinMode(O_RED_LED_PIN, OUTPUT);
pinMode(O_GREEN_LED_PIN, OUTPUT);
pinMode(O_BLUE_LED_PIN, OUTPUT);
//Run startup routine
startup();
}
//Runs continuously
void loop()
{
//Serial port message receipt processing
if (Serial.available() > 0)
{
int iControlCode;
iControlCode = Serial.parseInt();
processSerialMessage(iControlCode);
}
//Read green button
int iGreenButton;
iGreenButton = digitalRead(I_GREEN_BUTTON_PIN);
if (iGreenButton == HIGH && gRunning == false)
{
enableTracking();
gTrackToLightEnabled = true;
}
//Read red button
int iRedButton;
iRedButton = digitalRead(I_RED_BUTTON_PIN);
if (iRedButton == HIGH && gRunning == true)
{
disableTracking();
}
//Read all instrumentation into global variables
readPhotoResistors();
averageTopTwoSensors();
averageBottomTwoSensors();
//Adjust servo positions according to light on photoresistors
if (gRunning == true)
{
if (gTrackToLightEnabled == true)
{
//Make small moves of servos based on photo-resitor light levels
trackToLightSensors();
}
else
{
//Make small moves based on user commands at serial port. Avoids high velocity moves on mechanism
smoothMoveTwist();
smoothMoveTilt();
}
}
//Give a little time back
delay(GIVE_BACK_TIME);
}
//Turn on servo tracking
void enableTracking()
{
//Set global variables so other parts of program knows motors are ready to run
gRunning = true;
//Attach to the servo motors
gServoTwist.attach(O_TWIST_SERVO_PIN);
gServoTilt.attach(O_TILT_SERVO_PIN);
//Turn on green LED and turn off red LED
digitalWrite(O_GREEN_LED_PIN, HIGH);
digitalWrite(O_RED_LED_PIN, LOW);
//Post results
Serial.println("servos enabled");
}
//Turn off servo tracking
void disableTracking()
{
gRunning = false;
gTrackToLightEnabled = false;
//Detach from servo motors
gServoTwist.detach();
gServoTilt.detach();
//Clean up move command and move in-process (IP) variables
gServoTwistPositionCommand = gServoTwist.read();
gServoTwistMoveIP = false;
//Clean up move command and move in-process (IP) variables
gServoTiltPositionCommand = gServoTilt.read();
gServoTiltMoveIP = false;
//Turn on red LED, turn off green LED
digitalWrite(O_RED_LED_PIN, HIGH);
digitalWrite(O_GREEN_LED_PIN, LOW);
//Post results
Serial.println("servos disabled");
}
//Track to light based on photosensor values
void trackToLightSensors()
{
float fTop;
float fBottom;
float fLeft;
float fRight;
int iTwistMoveCommand;
int iTiltMoveCommand;
int iMoveAmount;
//Initialize
//The variable below determines how many degrees of potential motion for both servos
//per scan of the program. This number in combination with the global constant
//named 'GIVE_BACK_TIME' determine how aggressive the moves will be.
iMoveAmount = 5;
//Get current servo positions
iTwistMoveCommand = gServoTwist.read();
iTiltMoveCommand = gServoTilt.read();
//Get averages
fTop = averageTopTwoSensors();
fBottom = averageBottomTwoSensors();
fLeft = averageLeftTwoSensors();
fRight = averageRightTwoSensors();
//Calculate twist move
if (fLeft > fRight)
{
//Move positive
iTwistMoveCommand += iMoveAmount;
}
else if (fRight > fLeft)
{
//Move negative
iTwistMoveCommand -= iMoveAmount;
}
else
{
//Same. don't move
}
//Calculate tilt move
if (fTop > fBottom)
{
//Move positive
iTiltMoveCommand += iMoveAmount;
}
else if (fBottom > fTop)
{
//Move negative
iTiltMoveCommand -= iMoveAmount;
}
else
{
//Same. don't move
}
//Bounds check twist servo move command
if (iTwistMoveCommand < 0)
{
iTwistMoveCommand = 0;
}
if (iTwistMoveCommand > 179)
{
iTwistMoveCommand = 179;
}
//Bounds check tilt servo move command
if (iTiltMoveCommand < 45)
{
iTiltMoveCommand = 45;
}
if (iTiltMoveCommand > 135)
{
iTiltMoveCommand = 135;
}
//Perform moves
gServoTwist.write(iTwistMoveCommand);
gServoTilt.write(iTiltMoveCommand);
//Post results
if (gVerboseDiagMode == true)
{
Serial.println("tl, tr, bl, br, top avg, bottom avg, left avg, right avg, twist move, tilt move: ");
Serial.print(gLDR1);
Serial.print(", ");
Serial.print(gLDR2);
Serial.print(", ");
Serial.print(gLDR3);
Serial.print(", ");
Serial.print(gLDR4);
Serial.print(", ");
Serial.print(fTop);
Serial.print(", ");
Serial.print(fBottom);
Serial.print(", ");
Serial.print(fLeft);
Serial.print(", ");
Serial.print(fRight);
Serial.print(", ");
Serial.print(iTwistMoveCommand);
Serial.print(", ");
Serial.println(iTiltMoveCommand);
}
}
//read photoresistor values into global variables
void readPhotoResistors()
{
//Values come in scaled 0-1024
gLDR1 = analogRead(I_LDR1_PIN);
gLDR2 = analogRead(I_LDR2_PIN);
gLDR3 = analogRead(I_LDR3_PIN);
gLDR4 = analogRead(I_LDR4_PIN);
}
//When the servos are commanded to a position they move at a fast speed.
//Too fast will potentially affect the mechanical structure that holds and moves
//the solar panel and light sensor platform. This routine takes a "move command"
//and makes small incremental moves until the servo is at that desired position.
//This routine is for the base mounted twisting servo motor
void smoothMoveTwist()
{
int iCurrentPos;
int iMoveAmountPerScan;
int iNewMoveCommand;
//Set move amount per scan in degrees.
//Combination of this variable and global const 'GIVE_BACK_TIME' determine overall move speed
iMoveAmountPerScan = 1;
//Determine current position
iCurrentPos = gServoTwist.read();
//Are we at position?
if (iCurrentPos == gServoTwistPositionCommand)
{
gServoTwistMoveIP = false;
return;
}
else
{
gServoTwistMoveIP = true;
}
//Start off where we are currently at
iNewMoveCommand = iCurrentPos;
//Determine move amount
if (iCurrentPos < gServoTwistPositionCommand)
{
//Add
iNewMoveCommand = iNewMoveCommand + iMoveAmountPerScan;
}
else
{
//Subtract
iNewMoveCommand = iNewMoveCommand - iMoveAmountPerScan;
}
//Clamp if needed
if (iNewMoveCommand < 0)
{
iNewMoveCommand = 0;
}
if (iNewMoveCommand > 179)
{
iNewMoveCommand = 179;
}
//Move
gServoTwist.write(iNewMoveCommand);
//Post results
if (gVerboseDiagMode == true)
{
//todo:
Serial.print("Twist servo move (this move, total):");
Serial.print(iNewMoveCommand);
Serial.print(", ");
Serial.println(gServoTwistPositionCommand);
}
}
//When the servos are commanded to a position they move at a fast speed.
//Too fast will potentially affect the mechanical structure that holds and moves
//the solar panel and light sensor platform. This routine takes a "move command"
//and makes small incremental moves until the servo is at that desired position.
//This routine is for the bracket mounted tilting servo motor
void smoothMoveTilt()
{
int iCurrentPos;
int iMoveAmountPerScan;
int iNewMoveCommand;
//Set move amount per scan in degrees.
//Combination of this variable and global const 'GIVE_BACK_TIME' determine overall move speed
iMoveAmountPerScan = 1;
//Determine current position
iCurrentPos = gServoTilt.read();
//Are we at position?
if (iCurrentPos == gServoTiltPositionCommand)
{
gServoTiltMoveIP = false;
return;
}
else
{
gServoTiltMoveIP = true;
}
//Start off where we are currently at
iNewMoveCommand = iCurrentPos;
//Determine move amount
if (iCurrentPos < gServoTiltPositionCommand)
{
//Add
iNewMoveCommand = iNewMoveCommand + iMoveAmountPerScan;
}
else
{
//Subtract
iNewMoveCommand = iNewMoveCommand - iMoveAmountPerScan;
}
//Clamp if needed
if (iNewMoveCommand < 0)
{
iNewMoveCommand = 0;
}
if (iNewMoveCommand > 179)
{
iNewMoveCommand = 179;
}
//Move
gServoTilt.write(iNewMoveCommand);
//Post results
if (gVerboseDiagMode == true)
{
//todo:
Serial.print("Tilt servo move (this move, total):");
Serial.print(iNewMoveCommand);
Serial.print(", ");
Serial.println(gServoTiltPositionCommand);
}
}
//Take the mathematical average of the two LDR at top of panel
float averageTopTwoSensors()
{
float fAvg;
//Math
fAvg = (gLDR1 + gLDR2) / 2.0;
return fAvg;
}
//Take the mathematical average of the two LDR at bottom of panel
float averageBottomTwoSensors()
{
float fAvg;
//Math
fAvg = (gLDR3 + gLDR4) / 2.0;
return fAvg;
}
//Take the mathematical average of the two LDR on left of panel
float averageLeftTwoSensors()
{
float fAvg;
//Math
fAvg = (gLDR1 + gLDR3) / 2.0;
return fAvg;
}
//Take the mathematical average of the two LDR on right of panel
float averageRightTwoSensors()
{
float fAvg;
//Math
fAvg = (gLDR2 + gLDR4) / 2.0;
return fAvg;
}
//Process received messages from the serial port interface
//Input parameter iControlCode is the value received from the serial port to be processed
//First two digits are the control command, remaining three are the value to process
void processSerialMessage(int iControlCode)
{
int iControlCommand;
int iControlValue;
//Calculate command and value
iControlCommand = iControlCode / 1000;
iControlValue = iControlCode % 1000;
//Report command and value
Serial.print("control code: ");
Serial.println(iControlCode);
Serial.print("control command: ");
Serial.println(iControlCommand);
Serial.print("control value: ");
Serial.println(iControlValue);
//Misc command category
if (iControlCommand == 10)
{
if (iControlValue == 0)
{
gVerboseDiagMode = true;
digitalWrite(O_BLUE_LED_PIN, HIGH);
Serial.println("diagnostics mode started");
}
else if (iControlValue == 1)
{
gVerboseDiagMode = false;
digitalWrite(O_BLUE_LED_PIN, LOW);
Serial.println("diagnostics mode stopped");
}
else if (iControlValue == 2)
{
reportProductInfo();
}
else if (iControlValue == 3)
{
//Red LED on
digitalWrite(O_RED_LED_PIN, HIGH);
Serial.println("red led on");
}
else if (iControlValue == 4)
{
//Red LED off
digitalWrite(O_RED_LED_PIN, LOW);
Serial.println("red led off");
}
else if (iControlValue == 5)
{
//Green LED on
digitalWrite(O_GREEN_LED_PIN, HIGH);
Serial.println("green led on");
}
else if (iControlValue == 6)
{
//Green LED off
digitalWrite(O_GREEN_LED_PIN, LOW);
Serial.println("green led off");
}
else if (iControlValue == 7)
{
//Blue LED on
digitalWrite(O_BLUE_LED_PIN, HIGH);
Serial.println("blue led on");
}
else if (iControlValue == 8)
{
//Blue LED off
digitalWrite(O_BLUE_LED_PIN, LOW);
Serial.println("blue led off");
}
else if (iControlValue == 9)
{
//Display LDR1 value
Serial.print("LDR1 value: ");
Serial.println(gLDR1);
}
else if (iControlValue == 10)
{
//Display LDR2 value
Serial.print("LDR2 value: ");
Serial.println(gLDR2);
}
else if (iControlValue == 11)
{
//Display LDR3 value
Serial.print("LDR3 value: ");
Serial.println(gLDR3);
}
else if (iControlValue == 12)
{
//Display LDR4 value
Serial.print("LDR4 value: ");
Serial.println(gLDR4);
}
else if (iControlValue == 13)
{
//Turn on tracking mode
enableTracking();
}
else if (iControlValue == 14)
{
//Turn off tracking mode
disableTracking();
}
else if (iControlValue == 19)
{
if (gRunning == true && gServoTwistMoveIP == false && gServoTiltMoveIP == false)
{
gServoTwistPositionCommand = 90;
gServoTiltPositionCommand = 90;
Serial.println("twist and tilt servos commanded to 90 degrees");
}
}
else if (iControlValue == 21)
{
if (gRunning == true)
{
gTrackToLightEnabled = true;
Serial.println("Track to light source enabled");
}
}
else if (iControlValue == 22)
{
gTrackToLightEnabled = false;
Serial.println("Track to light source disabled");
}
else
{
Serial.print("invalid control value: ");
Serial.println(iControlValue);
}
}
//Servo1 (twist) command category
if (iControlCommand == 11)
{
if (iControlValue >=0 && iControlValue <= 179)
{
//Move servo1 to position
if (gRunning == true && gServoTwistMoveIP == false)
{
gServoTwistPositionCommand = iControlValue;
gServoTwistMoveIP = true;
Serial.print("Move twist servo command: ");
Serial.println(gServoTwistPositionCommand);
}
}
else
{
Serial.print("invalid control value: ");
Serial.println(iControlValue);
}
}
//Servo2 (tilt) command category
if (iControlCommand == 12)
{
if (iControlValue >=0 && iControlValue <= 179)
{
//Move servo2 to position
//Move servo1 to position
if (gRunning == true && gServoTiltMoveIP == false)
{
gServoTiltPositionCommand = iControlValue;
gServoTiltMoveIP = true;
Serial.print("Move tilt servo command: ");
Serial.println(gServoTiltPositionCommand);
}
else
{
Serial.print("tilt servo not enabled or move in progress, ");
Serial.print(gRunning);
Serial.print(", ");
Serial.println(gServoTiltMoveIP);
}
}
else
{
Serial.print("invalid control value: ");
Serial.println(iControlValue);
}
}
//End of request string
Serial.println("-----");
}
//Run a sequence of steps to self-test functions, enable servos and enter light tracking mode
void startup()
{
int iDelay;
//Initialize
iDelay = 500;
//Display app info
reportProductInfo();
delay(iDelay);
//Turn on red LED
processSerialMessage(10003);
delay(iDelay);
//Turn off red LED, turn on green LED
processSerialMessage(10004);
processSerialMessage(10005);
delay(iDelay);
//Turn off green LED, turn on blue LED
processSerialMessage(10006);
processSerialMessage(10007);
delay(iDelay);
//Turn off blue LED, display photo-resistor values (all four)
processSerialMessage(10008);
processSerialMessage(10009);
processSerialMessage(10010);
processSerialMessage(10011);
processSerialMessage(10012);
delay(iDelay);
//Enable servos
enableTracking();
delay(iDelay);
//Move servos to home position
processSerialMessage(10019);
delay(iDelay);
//Disable servos
disableTracking();
//Say good-bye
Serial.println("startup sequence completed");
}
//Send product information to the serial port
void reportProductInfo()
{
//Report product and other information to serial port
Serial.println("q version 2");
Serial.println("tucson, arizona usa");
Serial.println("may 2018");
Serial.print("checksum ");
Serial.println("58BA-D969-2F82-08FD-2078-2777-396D-E1AA");
}
