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    University of Technology Conrtol and System Engineering Department

    Uploaded by

    Wasan Shakir
    This document describes an experiment to control the position of two servo motors proportionally based on distance measurements from an ultrasonic sensor. The objective is to control the servo motors in opposite directions - as one servo moves from 180 to 0 degrees, the other moves from 0 to 180 degrees. The document provides the code to interface with the ultrasonic sensor to get distance readings and control the servo motors based on the readings to achieve the objective. It also shows sample angle values for the servos at different distances.

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    © All Rights Reserved
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    University of Technology Conrtol and System Engineering Department

    Uploaded by

    Wasan Shakir
    9 views9 pages
    This document describes an experiment to control the position of two servo motors proportionally based on distance measurements from an ultrasonic sensor. The objective is to control the servo motors in opposite directions - as one servo moves from 180 to 0 degrees, the other moves from 0 to 180 degrees. The document provides the code to interface with the ultrasonic sensor to get distance readings and control the servo motors based on the readings to achieve the objective. It also shows sample angle values for the servos at different distances.

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    automation exp 1

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    This document describes an experiment to control the position of two servo motors proportionally based on distance measurements from an ultrasonic sensor. The objective is to control the servo motors in opposite directions - as one servo moves from 180 to 0 degrees, the other moves from 0 to 180 degrees. The document provides the code to interface with the ultrasonic sensor to get distance readings and control the servo motors based on the readings to achieve the objective. It also shows sample angle values for the servos at different distances.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    9 views9 pages

    University of Technology Conrtol and System Engineering Department

    Uploaded by

    Wasan Shakir
    This document describes an experiment to control the position of two servo motors proportionally based on distance measurements from an ultrasonic sensor. The objective is to control the servo motors in opposite directions - as one servo moves from 180 to 0 degrees, the other moves from 0 to 180 degrees. The document provides the code to interface with the ultrasonic sensor to get distance readings and control the servo motors based on the readings to achieve the objective. It also shows sample angle values for the servos at different distances.

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    UNIVERSITY OF TECHNOLOGY

    CONRTOL AND SYSTEM ENGINEERING


    DEPARTMENT

    MECHATRONICS BRANCH

    4 th Stage

    EXP.(1)

    Servo motor position control using distance


    measurements

    ‫علي تحسين كمال‬


    ‫ميكا صباحي‬

    Objective:
    Autonomous robots usually to use distance sensors to learn their
    surroundings, and in order to avoid any collision with all obstacles
    placed in robot work space during navigation. We need to control the
    position of two servo motors for example proportionally with respect to
    the measure distance.

    Procedure :

    #include <Servo.h>

    const int pingPin = 4;


    const int servoPin1 = 2;

    const int servoPin2 = 3;

    int Thl;

    int Th2;

    Servo ServoMotor1;

    Servo ServoMotor2;

    void setup()

    Serial.begin (9600);

    ServoMotor1.attach(servoPin1);

    ServoMotor2.attach(servoPin2);

    void loop()

    long duration, cm ;

    pinMode(pingPin, OUTPUT);

    digitalWrite(pingPin, LOW);

    delayMicroseconds (2);

    digitalWrite (pingPin, HIGH);

    delayMicroseconds (5);

    digitalWrite (pingPin, LOW);

    pinMode(pingPin, INPUT);

    duration = pulseIn(pingPin, HIGH);

    // convert the time into a distance

    cm = microsecondsToCentimeters(duration);

    Thl=cm*180/320;

    Th2=180-(cm*180/320);
    ServoMotor1.write(Thl);

    ServoMotor2.write(Th2);

    delay (100);

    Serial.print(" cm = ");

    Serial.print (cm);

    Serial.print (" Th1 = ");

    Serial.print (Thl);

    Serial.print (" Th2 = ");

    Serial.print (Th2);

    Serial.println();

    long microsecondsToCentimeters(long microseconds) {

    return microseconds / 29 / 2;}

    Servo 1 Angle Servo 2 Angle


    Distance (cm) 0 - 180 180 - 0

    10 5 175

    50 28 152

    100 56 124

    150 84 96

    200 112 68

    250 140 40

    300 168 12

    350 180 0

    Discussion :
    1-Simulate an Arduino UNO circuit and write an Arduino code for
    Controlling a two servo motors in an opposite directions using Ping
    Ultra sonic distance sensor, so that servo one moves from (180to0)
    degrees while servo two moves from (0to180)degrees.

    ANS /
    #include <Servo.h>
    const int pingPin = 4;
    const int servoPinl = 2;
    const int servoPin2 = 3;
    int Th1;
    int Th2;
    Servo ServoMotor1;
    Servo ServoMotor2;
    long microsecondsToCentimeters(long microseconds) {
    // The speed of sound is 340 m/s or 29 microseconds per centimeter.
    // The ping travels out and back, so to find the distance of the object we
    // take half of the distance travelled.
    return microseconds / 29 / 2;
    }
    void setup ()
    {
    Serial.begin (9600);
    ServoMotor1.attach(servoPinl);
    ServoMotor2.attach(servoPin2);
    }
    void loop()
    {
    long duration, cm ;
    pinMode (pingPin, OUTPUT);
    digitalWrite (pingPin, LOW);
    delayMicroseconds (2);
    digitalWrite (pingPin, HIGH);
    delayMicroseconds (5);
    digitalWrite (pingPin, LOW);
    pinMode (pingPin, INPUT);
    duration = pulseIn (pingPin, HIGH);
    // convert the time into a distance
    cm = microsecondsToCentimeters(duration);

    Th1= 180-(cm*180/320);
    Th2=cm*180/320;

    ServoMotor1.write (Th1);
    ServoMotor2.write (Th2);
    delay (100);
    Serial.print ("cm = ");
    Serial.print (cm);
    Serial.print (" Th1 = ");
    Serial.print (Th1);
    Serial.print (" Th2 = ");
    Serial.print (Th2);
    Serial.println ();
    }

    Servo 1 Angle Servo 2 Angle


    Distance (cm) 180-0 0-180
    10 175 5

    50 152 28

    100 124 56

    150 96 84

    200 68 112

    250 40 140

    300 12 168

    350 0 180

    2- Simulate an Arduino UNO circuit and write Arduino code for


    Controlling a two servo motors in an opposite directions using Ping
    ultrasonic distance sensor, so that servo one moves from
    (180to90)degrees while servo two moves from (90to0)degrees.

    ANS /
    #include <Servo.h>
    const int pingPin = 4;
    const int servoPinl = 2;
    const int servoPin2 = 3;
    int Thl;
    int Th2;
    Servo ServoMotor1;
    Servo ServoMotor2;
    long microsecondsToCentimeters(long microseconds) {
    // The speed of sound is 340 m/s or 29 microseconds per centimeter.
    // The ping travels out and back, so to find the distance of the object we
    // take half of the distance travelled.
    return microseconds / 29 / 2;
    }
    void setup ()
    {
    Serial.begin (9600);
    ServoMotor1.attach(servoPinl);
    ServoMotor2.attach(servoPin2);
    }
    void loop()
    {
    long duration, cm ;
    pinMode (pingPin, OUTPUT);
    digitalWrite (pingPin, LOW);
    delayMicroseconds (2);
    digitalWrite (pingPin, HIGH);
    delayMicroseconds (5);
    digitalWrite (pingPin, LOW);
    pinMode (pingPin, INPUT);
    duration = pulseIn (pingPin, HIGH);
    // convert the time into a distance
    cm = microsecondsToCentimeters(duration);
    Th1=180-(cm*90/320);
    Th2=90-(cm*90/320);
    ServoMotor1.write (Thl);

    ServoMotor2.write (Th2);
    delay (100);
    Serial.print ("cm = ");
    Serial.print (cm);
    Serial.print (" Th1 = ");
    Serial.print (Thl);
    Serial.print (" Th2 = ");
    Serial.print (Th2);
    Serial.println ();
    }

    Servo 1 Angle Servo 2 Angle


    Distance (cm) 180 - 90 90 - 0

    10 178 88

    50 166 76

    100 152 62

    150 138 48

    200 134 34

    250 110 20

    300 96 6

    350 90 0

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