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UNDERSTANDING ARDUINO AND PROGRAM CONNECTIONS

I am gonna explain how the connections are going to be made in an arduino based on your program.
SINCE i have already posted a one sensor program i would like to explain the connections based on that code.



ONE SENSOR CODE
void setup()
{
pinMode(4,OUTPUT); //enable a
pinMode(8,OUTPUT); //enable b
pinMode(2,OUTPUT); //motor A
pinMode(3,OUTPUT);//motor A
pinMode(10,OUTPUT);//motor b
pinMode(9,OUTPUT);//MOTOR B
pinMode(5,INPUT);
pinMode(6,INPUT);
Serial.begin(9600);
}
void loop()
{
  digitalWrite(4,HIGH);
  digitalWrite(8,HIGH);
  int lsen,rsen;
  lsen=digitalRead(5);
  rsen=digitalRead(6);
  Serial.println(lsen);
  if((lsen==HIGH)&&(rsen==LOW))
  {
    right();
  }
  else if((rsen==HIGH)&&(lsen==LOW))
  {
    left();
  }
  else if((rsen==HIGH)&&(lsen==HIGH))
  {
    Stop();
  }
}
  
  void right()
  {
  digitalWrite(2,HIGH);
  digitalWrite(3,LOW);
  }
  void left()
  {
    digitalWrite(10,HIGH);
    digitalWrite(9,LOW);
  }
  void Stop()
  {
    digitalWrite(2,LOW);
    digitalWrite(3,LOW);
    digitalWrite(10,LOW);
    digitalWrite(9,LOW);
  }

REFER PREVIOUS POST TO DOWNLOAD THE CODE...!!!

before getting into the connections you must know how a DC motor works .

For a DC motor as the above diagram depicts when you supply a potential difference on the coil of the motor it generates a torque in either clock-Wise or anti clock wise direction.For example consider it has a torque in clock-wise direction and if you wish to have a anti-torque then it would be better to change the direction of the flow of current.

So in order for the ROBOT to move forward or backward both the wheels has to rotate in the same direction.If the ROBOT has to take a left or right turn then two turns are possible

TYPES OF TURNS A WHEELED ROBOT CAN MAKE

1)90 degree turn

2)Fast angled turn

1) If you need your ROBOT to get a 90 degree turn then you must rotate one wheel in clockwise and another wheel in anti-clockwise direction. 

2)if you need a fast angled turn then it is desired to stop either wheel and run the next wheel.

HOW TO TAKE A LEFT TURN or RIGHT TURN

If you wish your robot to take a left turn with 90 degree turn then it is desired to have a anti-clock torque with the left wheel and clockwise torque with the right wheel.

similarly if your robot wants to take a fight 90 degree turn then it must be vise-verse.

if you wish your robot to make a fast angled left turn then it is desired to stop the left motor and run the right motor and if you wish your robot to take a right turn then it must have a reflecting effect.

BASIC UNDERSTANDING

so from the above topics you must know that you need to control the polarities of the motor using the arduino.So when you need your robot to take a left turn you must give the possible potential difference to the motor and achieve the task.

Assembling of Line Follower

STEP 1:Place the motors on ur chassis and check the height of the BOT by fixing the wheels.

 

STEP 2: Place your arduino and H-BRIDGE on appropriate position for your connections

  

STEP 3: Place your sensors according to the problem statement

 STEP 4:your final bot . i will explain you the connections and the detailed configuration of the H-Bridge or Motor Driver IC (L293D)

One Sensor Line follower Arduino code

void setup()
{
pinMode(4,OUTPUT); //enable a
pinMode(8,OUTPUT); //enable b
pinMode(2,OUTPUT); //motor A
pinMode(3,OUTPUT);//motor A
pinMode(10,OUTPUT);//motor b
pinMode(9,OUTPUT);//MOTOR B
pinMode(5,INPUT);
pinMode(6,INPUT);
Serial.begin(9600);
}
void loop()
{
  digitalWrite(4,HIGH);
  digitalWrite(8,HIGH);
  int lsen,rsen;
  lsen=digitalRead(5);
  rsen=digitalRead(6);
  Serial.println(lsen);
  if((lsen==HIGH)&&(rsen==LOW))
  {
    right();
  }
  else if((rsen==HIGH)&&(lsen==LOW))
  {
    left();
  }
  else if((rsen==HIGH)&&(lsen==HIGH))
  {
    Stop();
  }
}
 
  void right()
  {
  digitalWrite(2,HIGH);
  digitalWrite(3,LOW);
  }
  void left()
  {
    digitalWrite(10,HIGH);
    digitalWrite(9,LOW);
  }
  void Stop()
  {
    digitalWrite(2,LOW);
    digitalWrite(3,LOW);
    digitalWrite(10,LOW);
    digitalWrite(9,LOW);
  }

DOWNLOAD THE ARDUINO CODE

 

Initialize your Arduino or Freeduino board

1) download the software from arduino.cc 
2)Install it . you will also have inbuilt drivers in it.
3)if you use freeduino use the following link 

  4) plug in your arduino UNO or freeduino

5)check the com port connections from your device manager
            Right click Mycomputer--->manage--->device manager--->com ports & lpt's --->check uno driver com port no

6) open the arduino and go to tools then update the desired com port

7)select the desired board

8)open a example program from file and click upload .

                           ARDUINO BASIC AND INIT

Sorry for my delay in post i couldn't post" how to make line follower" on the time i promised .Before getting on how we can make a Line follower robot . I would like to share you few basics of the Arduino Board which you are goin to use in order  to program your micro-controller .

i would be pinning you a video in next post and it would explain on how you can install your arduino and how to code.

with the use of images Now i would like to explain you the Basic pins included on Arduino.

This is Arduino UNO where it is a small computer which is used to program the micro controller according to your needs . It can be used for your flexibility to design any projects from home automation to a perfect humanoid.

Now i wil explain you the various components of the Arduino board

EXTERNAL POWER SUPPLY

                             Ofcourse it provides supply to the board it can handle a max of 5V DC and when it is plugged in with the external power supply the board cannot be programmed and the existing program in the micro-controller will be executed.

moreover note that while using USB or EXT power supply the jumper on the board has to be changed accordingly.but now lately equipped board has auto configuration to detect the power.

USB PLUG

                          It is a serial connection made with your computer from the board with the computer .it is the interface which is used in order for the user to program . The user needs the interface to program namely ARDUINO or VISUAL STUDIO.

during the use of this your digital pin 0 and digital pin 1 will be in use by the USB and the pins cannot be used in the program .

Note:during the use of the serial print in the program the digital pin 0 and digital pin 1 shall be active to communicate with the computer COM port and the pin cannot be used.

DIGITAL PINS(0-13)

                     These pins are those which are used in programming . we define these pins as input or output .

if we declare these pins as input in the program then the micro controller expects the user to provide some input via these pins .SO the pins which are declared as INPUT must be given to some external sensors and after we receive the input then the input values can be processed using the programs.

PIN 0 AND PIN 1 are used for tx nd rx where they are used to make a serial communication with the external boards or devices like zig-bee etc...

DEFINING DIGITAL PINS IN PROGRAM FOR OUTPUT AND INPUT

          Usually the defining of the pins are made in the function called void setup();

Ex:

        void setup()

        {

             pinMode(3,INPUT);    //micro-controller expects a input value from pin 3

             pinMode(4,OUTPUT);//some output can be made with the pin 4

         }

NOTE:

                    Only digital signals can be sent in digital pins ie 0 volt or 5 volt

              Few pins in the board which is marked with symbol '~' is compatible with both digital and analog signals

Analog pins

           They are similar to digital pins but they can handle both digital as well as analog signals means we can vary voltage from 0v to 5v as well as use digital signals like 0v(low) or 5v(high).

Reset button

This button is not used to erase the program but however used to repeat the code from the first line of execution.

Reset pin on arudino

This pin is used in order to hardware reset the micro controller.

use of some resistor in between the 5v to reset pin is safe however when 5v is shorted with the reset pin even then the arduino is resetted.

STAY TUNED IN FOR MY NEXT POST ON INITIALISATION OF ARDUINO AND MAKIN A LINE FOLLOWER ROBOT