Hızlı çizgi izleyen kodları

Arduino Soru / Cevap
1 
#include <QTRSensors.h>
#define tabanhiz 150
#define sagmotor1 10
#define sagmotor2 9
#define sagmotorpwmpin 11
#define solmotor1 6
#define solmotor2 7
#define solmotorpwmpin 5
#define MZ80 8
#define taktik 12
#define LED 13

QTRSensorsAnalog qtra((unsigned char[]) { A0, A1, A2, A3, A4, A5, A6, A7} , 8);
unsigned int sensors[8];

float Kp = 0.04;  float Kd = 0.6;  float Ki = 0.0001; int integral = 0;
int ekhiz = 0;    int sonhata = 0;  int hata = 0; byte K=0; 
int sagmotorpwm = 0;  int solmotorpwm = 0;    unsigned char zemin = 1;
int cizgisay=0;     long baslamazamani=0;   long doksanzamani=50000;
void setup() 
{
pinMode(sagmotor1, OUTPUT);
pinMode(sagmotor2, OUTPUT); 
pinMode(sagmotorpwmpin, OUTPUT); 
pinMode(solmotor1, OUTPUT); 
pinMode(solmotor2, OUTPUT); 
pinMode(solmotorpwmpin, OUTPUT); 
pinMode(MZ80, INPUT);  
pinMode(taktik, INPUT_PULLUP);  
delay(1000);
digitalWrite(LED, HIGH);

for (int i = 0; i< 150; i++)
{

  if (0 <= i  && i < 5)    hafifsagadon();
  if (5 <= i  && i < 15)   hafifsoladon();
  if (15 <= i && i < 25)   hafifsagadon();
  if (25 <= i && i < 35)   hafifsoladon();
  if (35 <= i && i < 40)   hafifsagadon();
  if (45 <= i && i < 50)   hafifsoladon();
  if (i >= 50) {
    frenle(1);
    delay(3);
  }
  qtra.calibrate();
  delay(1);
 }
 flashyap();
 while (digitalRead(MZ80) == LOW) {frenle(1);}

}
 
void loop() {
  sensoroku();
  dikcizgioku();
  yol_ayrimi();
  sag_sol_90();
  engeldenatla();

  if(cizgisay==1 || cizgisay==3 ) ekhiz=100; else ekhiz=0;
  if(cizgisay==3) K=1;
  if(cizgisay==5) {frenle(10000);}

  if(200<(millis()-doksanzamani) && (millis()-doksanzamani)<1200 ) ekhiz=100;
  if(1200<(millis()-doksanzamani) && (millis()-doksanzamani)<2400 ) ekhiz=-30;
  if(2400<(millis()-doksanzamani) && (millis()-doksanzamani)<5000 ) ekhiz=100;
integral += hata;
 if (abs(hata) < 500)integral = 0;
int duzeltmehizi = Kp * hata + Kd * (hata - sonhata) + Ki * integral;
sonhata = hata;

 sagmotorpwm = constrain(sagmotorpwm, -50, 254);
 solmotorpwm = constrain(solmotorpwm, -50, 254);
 motorkontrol(solmotorpwm, sagmotorpwm);
 
}

void motorkontrol(int solmotorpwm,int sagmotorpwm) {
    if(sagmotorpwm<=0) {
        sagmotorpwm=abs(sagmotorpwm);
        digitalWrite(sagmotor1, LOW);
        digitalWrite(sagmotor2, HIGH);
        analogWrite(sagmotorpwmpin, sagmotorpwm);
    }
   else {
    digitalWrite(sagmotor1, HIGH);
    digitalWrite(sagmotor2, LOW);
    analogWrite(sagmotorpwmpin, sagmotorpwm);
   }
   if(solmotorpwm<=0) {
        solmotorpwm=abs(solmotorpwm);
        digitalWrite(solmotor1, LOW);
        digitalWrite(solmotor2, HIGH);
        analogWrite(solmotorpwmpin, solmotorpwm);
    }
   else {
    digitalWrite(solmotor1, HIGH);
    digitalWrite(solmotor2, LOW);
    analogWrite(solmotorpwmpin, solmotorpwm);
  }

}
void engeldenatla(){
  if(digitalRead(MZ80) == LOW) {

    motorkontrol(0,150);delay(300);
    motorkontrol(150,150);delay(200);
    motorkontrol(150,0);delay(250);
    motorkontrol(150,150);delay(800);
    motorkontrol(150,0);delay(100);
    do { sensoroku(); motorkontrol(150,120); }
    while(hata==0);
  }
}
void sag_sol_90(){
  if (sensors[0]<100 && sensors[1]<100 && sensors[2]<100 && sensors[3] && sensors[6]>500 && sensors[7]>700){

      doksanzamani=millis();
      do {sensoroku(); motorkontrol(200,-50);}
      while(hata ==-3500);
  }
  if (sensors[7]<100 && sensors[6]<100 && sensors[5]<100 && sensors[4]<100 && sensors[1]>500 && sensors[0]>700){

      doksanzamani=millis();
      do {sensoroku(); motorkontrol(-50,200);}
      while(hata ==3500);
}
void yol_ayrimi(){
  if(sensors[0]>800 && sensors[2]<600 && sensors[3]<100 && sensors[4]<100 && sensors[5]<600 && sensors[7]>800){
    if(K==0) {
      motorkontrol(80,180);delay(300);  }
      if(K==1) {
        motorkontrol(180,80);delay(300);  }
     
   }
}
void sensoroku(){
  unsigned int position = qtra.readLine(sensors,1,zemin);
 hata= position-3500;
 if( sensors[0]<100 && sensors[7]<100 ) {zemin=0; }//beyaz
 if( sensors[0]>750 && sensors[7]>750 ) {zemin=1; }//siyah
}
void flashyap(){
     for (int x = 0; x < 6; x++) {
          digitalWrite(LED, HIGH); delay(200);
          digitalWrite(LED, LOW);  delay(200);
          }
     }

void dikcizgioku(){
  if (sensors[0]<100 && sensors[1]<100&& sensors[2]<100 && sensors[3]<100 && 
      sensors[4]<100 && sensors[5]<100 && sensors[6]<100 && sensors[7]<100){
      cizgisay++; motorkontrol(tabanhiz,tabanhiz); delay(50);  
      }
}

void sensorlerioku_yaz(){
  for (unsigned char z = 0; z < 8; z++)
  {
    Serial.print(sensors[z];
    Serial.print('\t');
  }
  Serial.println();
  delay(250);
  }
 



void frenle(int bekle){motorkontrol(0,0); delay(bekle);}
 
void hafifsagadon(){motorkontrol(60,-60);}

void hafifsoladon(){motorkontrol(-60,60);}

KODLARDA HATA VAR YARDIM EDEBİLECEK OLAN VAR MI
error: ‘frenle’ was not declared in this scope GENELDE BU HATALAR VAR TÜM FONKSİYONLARDA

2

genelde bu hata var derken? SS atar mısınız Acaba?

3

Kodda çok fazla hata var. Zaman ayırabildiğim kadar düzelttim gerisini sen halledersin belki.

#include <QTRSensors.h>
QTRSensors qtr;

#define tabanhiz 150
#define sagmotor1 10
#define sagmotor2 9
#define sagmotorpwmpin 11
#define solmotor1 6
#define solmotor2 7
#define solmotorpwmpin 5
#define MZ80 8
#define taktik 12
#define LED 13

const uint8_t SensorCount = 8;
uint16_t sensorValues[SensorCount];


float Kp = 0.04;  float Kd = 0.6;  float Ki = 0.0001; int integral = 0;
int ekhiz = 0;    int sonhata = 0;  int hata = 0; byte K=0; 
int sagmotorpwm = 0;  int solmotorpwm = 0;    unsigned char zemin = 1;
int cizgisay=0;     long baslamazamani=0;   long doksanzamani=50000;

void sensoroku() {
    uint16_t position = qtr.readLineBlack(sensorValues); //*******Burda zemin i fln düzelt
    hata = position - 3500;

    if (sensorValues[0] < 100 && sensorValues[7] < 100) {
        zemin = 0;
    } // White
    if (sensorValues[0] > 750 && sensorValues[7] > 750) {
        zemin = 1;
    } // Black
}

void motorkontrol(int solmotorpwm,int sagmotorpwm) {
    if(sagmotorpwm<=0) {
        sagmotorpwm=abs(sagmotorpwm);
        digitalWrite(sagmotor1, LOW);
        digitalWrite(sagmotor2, HIGH);
        analogWrite(sagmotorpwmpin, sagmotorpwm);
    }
   else {
    digitalWrite(sagmotor1, HIGH);
    digitalWrite(sagmotor2, LOW);
    analogWrite(sagmotorpwmpin, sagmotorpwm);
   }
   if(solmotorpwm<=0) {
        solmotorpwm=abs(solmotorpwm);
        digitalWrite(solmotor1, LOW);
        digitalWrite(solmotor2, HIGH);
        analogWrite(solmotorpwmpin, solmotorpwm);
    }
   else {
    digitalWrite(solmotor1, HIGH);
    digitalWrite(solmotor2, LOW);
    analogWrite(solmotorpwmpin, solmotorpwm);
  }

}
void engeldenatla(){
  if(digitalRead(MZ80) == LOW) {

    motorkontrol(0,150);delay(300);
    motorkontrol(150,150);delay(200);
    motorkontrol(150,0);delay(250);
    motorkontrol(150,150);delay(800);
    motorkontrol(150,0);delay(100);
    do { sensoroku(); motorkontrol(150,120); }
    while(hata==0);
  }
}
void sag_sol_90(){
  if (sensorValues[0]<100 && sensorValues[1]<100 && sensorValues[2]<100 && sensorValues[3] && sensorValues[6]>500 && sensorValues[7]>700){

      doksanzamani=millis();
      do {sensoroku(); motorkontrol(200,-50);}
      while(hata ==-3500);
  }
  if (sensorValues[7]<100 && sensorValues[6]<100 && sensorValues[5]<100 && sensorValues[4]<100 && sensorValues[1]>500 && sensorValues[0]>700){

      doksanzamani=millis();
      do {sensoroku(); motorkontrol(-50,200);}
      while(hata ==3500);
}
void yol_ayrimi(){
  if(sensorValues[0]>800 && sensorValues[2]<600 && sensorValues[3]<100 && sensorValues[4]<100 && sensorValues[5]<600 && sensorValues[7]>800){
    if(K==0) {
      motorkontrol(80,180);delay(300);  }
      if(K==1) {
        motorkontrol(180,80);delay(300);  }
     
   }
}


void flashyap(){
     for (int x = 0; x < 6; x++) {
          digitalWrite(LED, HIGH); delay(200);
          digitalWrite(LED, LOW);  delay(200);
          }
     }

void dikcizgioku(){
  if (sensorValues[0]<100 && sensorValues[1]<100&& sensorValues[2]<100 && sensorValues[3]<100 && 
      sensorValues[4]<100 && sensorValues[5]<100 && sensorValues[6]<100 && sensorValues[7]<100){
      cizgisay++; motorkontrol(tabanhiz,tabanhiz); delay(50);  
      }
}

void sensorlerioku_yaz(){
  for (unsigned char z = 0; z < 8; z++)
  {
    Serial.print(sensorValues[z];
    Serial.print('\t');
  }
  Serial.println();
  delay(250);
  }
 



void frenle(int bekle){motorkontrol(0,0); delay(bekle);}
 
void hafifsagadon(){
  motorkontrol(60,-60);
  }

void hafifsoladon(){motorkontrol(-60,60);}
void setup() 
{
  qtr.setTypeAnalog();
  qtr.setSensorPins((const uint8_t[]){A0, A1, A2, A3, A4, A5}, SensorCount);
  qtr.setEmitterPin(2);

pinMode(sagmotor1, OUTPUT);
pinMode(sagmotor2, OUTPUT); 
pinMode(sagmotorpwmpin, OUTPUT); 
pinMode(solmotor1, OUTPUT); 
pinMode(solmotor2, OUTPUT); 
pinMode(solmotorpwmpin, OUTPUT); 
pinMode(MZ80, INPUT);  
pinMode(taktik, INPUT_PULLUP);  
delay(1000);
digitalWrite(LED, HIGH);

for (int i = 0; i< 150; i++)
{

  if (0 <= i  && i < 5)
  hafifsagadon();
  if (5 <= i  && i < 15)
  hafifsoladon();
  if (15 <= i && i < 25)
  hafifsagadon();
  if (25 <= i && i < 35)
  hafifsoladon();
  if (35 <= i && i < 40)
  hafifsagadon();
  if (45 <= i && i < 50)
  hafifsoladon();
  if (i >= 50) {
    frenle(1);
    delay(3);
  }
  qtra.calibrate();
  delay(1);
 }
 flashyap();
 while (digitalRead(MZ80) == LOW) {frenle(1);}

}


void loop() {
 sensoroku();
  dikcizgioku();
  yol_ayrimi();
  sag_sol_90();
  engeldenatla();

  if(cizgisay==1 || cizgisay==3 ) ekhiz=100; else ekhiz=0;
  if(cizgisay==3) K=1;
  if(cizgisay==5) {frenle(10000);}

  if(200<(millis()-doksanzamani) && (millis()-doksanzamani)<1200 ) ekhiz=100;
  if(1200<(millis()-doksanzamani) && (millis()-doksanzamani)<2400 ) ekhiz=-30;
  if(2400<(millis()-doksanzamani) && (millis()-doksanzamani)<5000 ) ekhiz=100;
integral += hata;
 if (abs(hata) < 500)integral = 0;
int duzeltmehizi = Kp * hata + Kd * (hata - sonhata) + Ki * integral;
sonhata = hata;

 sagmotorpwm = constrain(sagmotorpwm, -50, 254);
 solmotorpwm = constrain(solmotorpwm, -50, 254);
 motorkontrol(solmotorpwm, sagmotorpwm);
 
}
2 Beğeni