merci pour votre aide !
le matériel que je possède est le même que sur le lien que j'ai posté c'est à dire :
- PICAXE-28X1 Starter Pack
- L293D Motor Driver
- PICAXE Servo Upgrade Pack
- Sharp GP2D120 IR Sensor - 30cm / Analogique
2 Gear Motors with wheels (moteurs avec démultiplication et roues)
et enfin les cny70 !
une fois le tout monter le robot ressemble a peu près à ça (sans les réflecteurs optique) :
Pour la programmation voila ce que j'ai suivi :
main:
readadc 0, b0
debug
goto main
Now take your hand in front of the robot´s head and notice how the variable b0 changes value. You can use the knowledge gained to decide what should happen and when (how close things should get before..)
You may notice how things start to go "wrong" if stuff is too close to the "eyes"; The Sharp is made to work with objects 10-80 cm away. Things that are closer than 10 cm (4 inches) appear to be further way, which can be quite a challenge to program.
You can get many other distance sensors that do not have this problem. However the Sharp is the cheapest, and easiest to program, so that's why I made such a "bad" choice for you, sorry <img src='http://www.robot-maker.com/forum/public/style_emoticons/<#EMO_DIR#>/wink.gif' class='bbc_emoticon' alt=';)' /> Look around and see what everyone else is using, before you decide on an upgrade.
Now I advise you to put your robot up on a matchbox or similar, as the wheels will start turning.
Enter this code into your editor, and press F5 while the robot is connected:
high 4
low 5
One of the wheels should turn in one direction. Does your wheels turn forward? If so, this is the instruction for that wheel to turn forward.
If the wheel is turning backwards, you can try this:
low 4
high 5
To turn the other wheel, you need to enter
high 6
low 7
(or the other way around for opposite direction.)
What happens here is that by using only the options available to the microcontroller; power on or off (High / Low) on the pins, it is commanding the motor controller to set motor A or B in forward or reverse mode.
low 4
low 5
low 6
low 7
stops all motors
The servo you have already tried.
All the way to one side is:
servo 0, 75 wait 2
- the other side is:
servo 0, 225 wait 2
- and centre:
servo 0, 150 wait 2
Here is a small program that will (should, if all is well, and if you inserted the right parameters for high/low to suit your wiring to the motors) make the robot drive around, stop in front of things, look to each side to decide which is the best, turn that way, and drive towards new adventures. In the code I have made so called remarks: explaining you what is going on.
You can write such comments or remarks yourself in the code, it is a good idea to keep track.
They are written with an apostrophe (or single quote) sign. However, copying this text from here might alter that to something else, and you will have to fix that manually, sorry. Your programming editor has colour codes, that will help showing you what it recognizes as comments and what as code.
Symbol dangerlevel = 70 ' how far away should thing be, before we react?
symbol turn = 300 ' this sets how much should be turned
symbol servo_turn = 700 ' This sets for how long time we should wait for the servo to turn (depending on it´s speed) before we measure distance
main: ' the main loop
readadc 0, b1 ' read how much distance ahead
if b1 < dangerlevel then
gosub nodanger ' if nothing ahead, drive forward
else
gosub whichway ' if obstacle ahead then decide which way is better
end if
goto main ' this ends the loop, the rest are only sub-routines
nodanger:' this should be your combination to make the robot drive forward, these you most likely need to adjust to fit the way you have wired your robots motors
high 5 : high 6 : low 4 : low 7
return
whichway:
gosub totalhalt ' first stop!
'Look one way:
gosub lturn ' look to one side
pause servo_turn ' wait for the servo to be finished turning
readadc 0, b1
gosub totalhalt
'Look the other way:
gosub rturn ' look to another side
pause servo_turn ' wait for the servo to be finished turning
readadc 0, b2
gosub totalhalt
' Decide which is the better way:
if b1<b2 then
gosub body_lturn
else
gosub body_rturn
end if
return
body_lturn:
high 6 : low 5 : low 7 : high 4 ' this should be your combination that turns the robot one way
pause turn : gosub totalhalt
return
body_rturn:
high 5 : low 6 : low 4 : high 7 ' this should be your combination that turns the robot the other way
pause turn : gosub totalhalt
return
rturn:
servo 0, 100 ' look to one side
return
lturn:
servo 0, 200 ' look to the other side
return
totalhalt:
low 4 : low 5 : low 6 : low 7 ' low on all 4 halts the robot!
Servo 0,150 ' face forward
wait 1 ' freeze all for one second
return
voila ...
j'ai une autre question.. si les réflecteur optique cny70 se branche sur de l'analogique comment faudra il les souder pour qu'elle soit relier a la picaxe ?
) nous avons prévu de faire un robot suiveur de ligne a l'aide de ce site : Ici (jusque la, rien de compliquer ^^) cependant un problème se pose.. 
nous voulons y ajouter un réflecteur optique cny70 afin qu'il suive bien une ligne, mais nous ne savons ni ou le placer, ni comment le programmer à l'aide du logiciel Picaxe Programming Editor et du programme déjà prêt a être ajouter (sans la partie concernant la cny70).
