Testing the Arduino Robot for measuring Distance, Speed and Angle
Once your hardware is ready upload the code into your Arduino and use the joystick to move your bot. the speed of the bot, distance covered by it and the angle will be displayed in the LCD as shown below.
On the LCD the term Lt and Rt represents Left Interrupt Count and Right Interrupt count respectively. You can find these values getting incremented for every gap detect by the sensor. The tem S indicates the Speed of the bot in m/sec and the term D indicates Distance covered in meters. The Angle of the bot is displayed at the end where 0° is for straight and it goes negative for anti-clockwise rotation and positive for clockwise rotation.
You can also watch the video at the end of this page to understand how the bot works. Hope you understood the project and enjoyed building it. If you have any concerns leave them in the comment section and I will try by best in responding back. You can also use forums for quick technical help.
Complete Project Code
/*
* Arduino Vehicle Speed, Distance and angle calculator
*/
/*-------defining pins------*/
#define LM_pos 9 // left motor
#define LM_neg 8 // left motor
#define RM_pos 10 // right motor
#define RM_neg 11 // right motor
#define joyX A2
#define joyY A3
#include <LiquidCrystal.h>
const int rs = 14, en = 15, d4 = 4, d5 = 5, d6 = 6, d7 = 7; //Mention the pin number for LCD connection
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);
int left_intr = 0;
int right_intr = 0;
int angle = 0;
/*Hardware details*/
float radius_of_wheel = 0.033; //Measure the radius of your wheel and enter it here in cm
volatile byte rotation; // variale for interrupt fun must be volatile
float timetaken,rpm,dtime;
float v;
int distance;
unsigned long pevtime;
void setup()
{
rotation = rpm = pevtime = 0; //Initialize all variable to zero
Serial.begin(9600);
lcd.begin(16, 2); //Initialise 16*2 LCD
lcd.print("Vechile Monitor"); //Intro Message line 1
lcd.setCursor(0, 1);
lcd.print("-CircuitDigest "); //Intro Message line 2
delay(2000);
lcd.clear();
lcd.print("Lt: Rt: ");
lcd.setCursor(0, 1);
lcd.print("S: D: A: ");
pinMode(LM_pos, OUTPUT);
pinMode(LM_neg, OUTPUT);
pinMode(RM_pos, OUTPUT);
pinMode(RM_neg, OUTPUT);
digitalWrite(LM_neg, LOW);
digitalWrite(RM_neg, LOW);
attachInterrupt(digitalPinToInterrupt(2), Left_ISR, CHANGE); //Left_ISR is called when left wheel sensor is triggered
attachInterrupt(digitalPinToInterrupt(3), Right_ISR, CHANGE);//Right_ISR is called when right wheel sensor is triggered
}
void loop()
{
int xValue = analogRead(joyX);
int yValue = analogRead(joyY);
int acceleration = map (xValue, 500, 0, 0, 200);
if (xValue<500)
{
analogWrite(LM_pos, acceleration);
analogWrite(RM_pos, acceleration);
}
else
{
analogWrite(LM_pos, 0);
analogWrite(RM_pos, 0);
}
if (yValue>550)
analogWrite(RM_pos, 80);
if (yValue<500)
analogWrite(LM_pos, 100);
/*To drop to zero if vehicle stopped*/
if(millis()-dtime>500) //no inetrrupt found for 500ms
{
rpm= v = 0; // make rpm and velocity as zero
dtime=millis();
}
v = radius_of_wheel * rpm * 0.104; //0.033 is the radius of the wheel in meter
distance = (2*3.141*radius_of_wheel) * (left_intr/40);
int angle_left = (left_intr % 360) * (90/80) ;
int angle_right = (right_intr % 360) * (90/80) ;
angle = angle_right - angle_left;
lcd.setCursor(3, 0); lcd.print(" "); lcd.setCursor(3, 0); lcd.print(left_intr);
lcd.setCursor(11, 0); lcd.print(" "); lcd.setCursor(11, 0);lcd.print(right_intr);
lcd.setCursor(2, 1); lcd.print(" "); lcd.setCursor(2, 1);lcd.print(v);
lcd.setCursor(9, 1); lcd.print(" "); lcd.setCursor(9, 1);lcd.print(distance);
lcd.setCursor(13, 1); lcd.print(" "); lcd.setCursor(13, 1);lcd.print(angle);
delay(100);
}
void Left_ISR()
{
left_intr++;delay(10);
}
void Right_ISR()
{
right_intr++; delay(10);
rotation++;
dtime=millis();
if(rotation>=40)
{
timetaken = millis()-pevtime; //timetaken in millisec
rpm=(1000/timetaken)*60; //formulae to calculate rpm
pevtime = millis();
rotation=0;
}
}
