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超小型ステッピングモータで自律走行車を作ってみよう・回路試験

https://blog.with2.net/link/?1965529

超小型ステッピングモータで自律走行車を作ってみよう・回路試験

https://blog.with2.net/link/?1965529

ブレッドボード上に基本回路を組んでみました。

回路図は以下のようなものです。MS1,MS3はLOW、MS2はHIGHとして1/4ステップなのでFull stepの4倍。つまり800stepで一回転することになります。

テストのためのスケッチは以下のような流れで作成します。

障害物までの距離が20㎝以上であれば前進、20㎝以下、17㎝以上であれば一段階の減速、17㎝以下、15㎝以上であればさらに一段階減速、15㎝以下、10㎝の範囲ではさらに減速、10㎝以下となれば旋回としました。

int distance;
int value;
int t;

void setup() {
pinMode(4,OUTPUT); // Enable 
pinMode(6,OUTPUT); // Step
pinMode(5,OUTPUT); // Dir
pinMode(7,OUTPUT); // Step
pinMode(8,OUTPUT); // Dir
digitalWrite(4,HIGH); // Set Enable HIGH → LowでEnable
Serial.begin(9600);
}

void loop() {
digitalWrite(4,LOW); // Set Enable LOW
distance_from_object();

if (distance > 20 ){
t = 100;
forward();
}

else if (distance > 17){
t = 250;
forward();
}

else if (distance > 15){
t = 300;
forward();
}

else if (distance > 10){
t = 400;
forward();
}

else {
t=300;
turn();
}
}

void distance_from_object(){ //測距
value = analogRead(A3);
distance = (6787/(value-3))-4;
Serial.print(distance);
Serial.println(“cm”);
delayMicroseconds(1);
}

void forward(){ // 前進
digitalWrite(5,HIGH);
digitalWrite(8,HIGH);
digitalWrite(6,HIGH);
digitalWrite(7,HIGH);
delayMicroseconds(t);
digitalWrite(6,LOW);
digitalWrite(7,LOW);
delayMicroseconds(t);
}

void turn(){ //旋回
digitalWrite(5,HIGH);
digitalWrite(8,LOW);
digitalWrite(6,HIGH);
digitalWrite(7,HIGH);
delayMicroseconds(t);
digitalWrite(6,LOW);
digitalWrite(7,LOW);
delayMicroseconds(t);

試験の結果は問題なく作動しているようです。

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