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BoeBot

BoeBot. BoeBot heet u welkom. Kennismaking Inleiding BoeBot orientatie Project opdracht Programma bespreking Vragen?. Inleiding. Embedded systems. Boe-Bot orientatie. Onderdelen en sensoren Servo’s Mechaniche aftasting Fotocel navigatie Infrarood navigatie Object detectie

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BoeBot

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  1. BoeBot BoeBot heet u welkom

  2. Kennismaking • Inleiding • BoeBot orientatie • Project opdracht • Programma bespreking • Vragen?

  3. Inleiding • Embedded systems

  4. Boe-Bot orientatie • Onderdelen en sensoren • Servo’s • Mechaniche aftasting • Fotocel navigatie • Infrarood navigatie • Object detectie • Afstands meting

  5. Servo’s • Aansturing servo’s • Kalibratie sevo’s

  6. Mechanische aftasting

  7. Fotocel navigatie • Lichtgevoelig • RC-tijd • Afstelling

  8. IR-Navigatie • Werking

  9. Project opdracht • Navigatie • Lijnvolger • Object ontwijking

  10. Main lin_LDR_met: = 0 rec_LDR_met: = 0 freqout 2, 2000, 3000 uitgang 12: = laag uitgang 13: = laag merker: = 0 counter: = 0 merker = 0 ? Nee Ja freqout 7,1: = 38500 Programma meting lin_IR: = ingang 8 freqout 1,1: = 38500 rec_IR: = ingang 0 RCTIJD: (lin_LDR > rec_LDR_met) V (lin_LDR > rec_LDR_met) ? Ja Nee (lin_IR = 0 )  (rec_IR = 0) ? Programma lijnvolger Ja Nee lin_IR = 0 ? ACHTERUIT: Ja Nee Zolang counter  75 rec_IR = 0 ? ACHTERUIT: Ja Nee pulsout 12: = 1000 Zolang counter  35 ACHTERUIT: Pulsout 12: = 500 pulsout 13: = 1000 pulsout 12: = 1000 Zolang counter  35 Pulsout 13: = 1000 pauze 20 pulsout 13: = 1000 pulsout 12: = 500 Pause 20 counter: = counter + 1 pauze 20 pulsout 13: = 500 counter: = counter + 1 pauze 20 counter: = counter + 1 totdat oneindig Programma bespreking

  11. Lijnvolger RCTIJD: freqout 7, 1, 38500 lin_IR: = ingang 8 freqout 1, 1, 38500 rec_IR: = ingang 0 (lin_IR = 0) V (rec_IR = 0) ? Ja Nee abs(lin_LDR – rec_LDR) > 15 Ja Nee zolang counter  70 lin_LDR < rec_LDR pulsout 12: = 500 pulsout 12: = 500 Nee Ja pulsout 13: = 1000 pulsout 13: = 500 pulsout 12: = 1000 pulsout 12: = 500 pauze 20 pauze 20 pulsout 13: = 1000 pulsout 13: = 500 counter: = counter +1 pauze 20 pauze 20 counter: = 0 totdat oneindig Programma lijnvolger

  12. meting zolang counter  50 RCTIJD: pulsout 12: = 500 pulsout 13: = 1000 pauze 20 (lin_LDR > lin_LDR-met) ? Ja Nee (rec_LDR > rec_LDR_met) ? Ja Nee lin_LDR_met: = lin_LDR rec_LDR_met: = rec_LDR counter: = counter +1 merker : = 1 Programma meting

  13. RCTIJD uitgang 3: = hoog pauze 3 rctime 3,1: = rec_LDR uitgang 5: = hoog pauze 3 rctime 5,1: = lin_LDR geef terug: ACHTERUIT zolang counter  50 pulsout 12: = 1000 pulsout 13: = 500 pauze 20 counter: = counter + 1 pauze 3 geef terug: Subroutines

  14. Vragen ?

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