In this lesson we will use 3 Ultrasonic sensors to detect front obstacles and guide robot car to drive automatically.
Before starting this project, you need complete hardware installation in Lesson 2 . Make sure the Lesson 2 software test is ok which means your motor installation and wiring to Raspberry Pi are all correct.
Now we can add 3 ultrasonic sensors(distance sensor) in front side. The center sensor should face straight ahead, right sensor face a 30 to 45 degree right of straight ahead direction , left sensor should face 30 to 40 degree left of straight ahead direction. Wiring connection should be as per following graph:
|Sensor Pin||Pi GPIO(BCM)|
|Right Sensor TRIG||18|
|Right Sensor ECHO||23|
|Center Sensor TRIG||24|
|Center Sensor ECHO||25|
|Left Sensor TRIG||16|
|Left Sensor ECHO||20|
1)Use putty (or ssh in Linux/iOS terminal) to connect your Raspberry Pi and then type following command:
wget http://osoyoocom/driver/obstacle.tar.gz tar -zxvf obstacle.tar.gz
2)Put your robot car onto ground, turn on the car again, now use putty or ssh to connect to Raspberry Pi again. Then type following command in terminal:
You will see your car is automatically moving and avoiding front obstacles. You will see obstacle situation and car action from your Raspberry Pi terminal . The obstacle status is a string. For example 001 means right
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