{"id":64,"date":"2018-04-30T07:54:00","date_gmt":"2018-04-30T07:54:00","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=64"},"modified":"2019-05-04T11:14:52","modified_gmt":"2019-05-04T11:14:52","slug":"v-behaviorurldefaultvmlo","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/v-behaviorurldefaultvmlo\/","title":{"rendered":"RyukDuino Grupo 18 M\u00f3stoles"},"content":{"rendered":"

<\/p>\n

\nRyukDuino<\/span><\/div>\n
\nGrupo 18<\/span><\/div>\n
\nNoelia Molero Puerto <\/span><\/div>\n
\nMiguel \u00c1ngel Rivas Pozo<\/span><\/div>\n
\nClaudia Soriano Parra<\/span><\/div>\n
\n<\/div>\n
\n<\/div>\n
\n<\/a><\/div>\n
\n<\/div>\n
\n\u00cdndice<\/span><\/u><\/div>\n
\n1.        
\n<\/span><\/span><\/span>Introducci\u00f3n<\/span><\/div>\n
\n2.        
\n<\/span><\/span><\/span>Materiales
\nutilizados <\/span><\/div>\n
\n3.        
\n<\/span><\/span><\/span>Circuitos<\/span><\/div>\n
\n4.        
\n<\/span><\/span><\/span>Aplicaci\u00f3n
\nutilizada<\/span><\/div>\n
\n5.        
\n<\/span><\/span><\/span>C\u00f3digo
\ndesarrollado<\/span><\/div>\n
\n6.        
\n<\/span><\/span><\/span>Problemas
\nencontrados y mejoras posibles <\/span><\/div>\n
\n7.        
\n<\/span><\/span><\/span>Demostraci\u00f3n
\nde su funcionamiento <\/span><\/div>\n
\n<\/div>\n
\n1.        
\n<\/span><\/span><\/span><\/b>Introducci\u00f3n: <\/span><\/b><\/div>\n
\nNuestro proyecto consiste en un coche teledirigido a trav\u00e9s de una
\naplicaci\u00f3n m\u00f3vil por medio de Bluetooth. Nuestro veh\u00edculo es capaz de detectar
\nla oscuridad y objetos. Cuenta con faros delanteros y con luces de freno. Para
\npoder controlar nuestro coche utilizaremos para ello la aplicaci\u00f3n <\/span>Arduino Bluetooth RC Car, disponible en la
\nPlay Store.<\/span><\/span><\/div>\n
\n<\/div>\n
\n2.        
\n<\/span><\/span><\/span><\/b>Materiales utilizados:<\/span><\/b><\/div>\n
\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\n
\nMateriales<\/span><\/div>\n<\/td>\n
\n
\nPrecio<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/a><\/div>\n
\n<\/div>\n
\n
<\/span><\/div>\n
\nPlaca de Arduino<\/span><\/div>\n<\/td>\n
\n
\n–<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/div>\n
\n<\/a><\/div>\n
\n<\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n
\nProtoboard<\/span><\/div>\n<\/td>\n
\n
\n–<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/div>\n
\n<\/a><\/span><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n

Plataforma del coche<\/td>\n

\n
\n15,99\u20ac<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/div>\n
\nM\u00f3dulo Bluetooth HC-06<\/span><\/div>\n<\/td>\n
\n
\n6,25\u20ac<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/a><\/div>\n
\n
<\/span><\/div>\n
\nSensor de color RGB TC-3200<\/span><\/div>\n<\/td>\n
\n
\n4,14\u20ac<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/div>\n
\n<\/a><\/span><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n

Sensor de obst\u00e1culos infrarrojo<\/td>\n

\n
\n1\u20ac<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/div>\n
\n<\/a><\/span><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n

Controlador de motores L298N<\/td>\n

\n
\n6\u20ac<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/a><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n
\nLeds<\/span><\/div>\n<\/td>\n
\n
\n2\u20ac<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/div>\n
\n<\/a><\/span><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n

Cables<\/td>\n

\n
\n7,55\u20ac<\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\n<\/a><\/div>\n
\n
<\/span><\/div>\n
\n
<\/span><\/div>\n
\nPilas<\/span><\/div>\n<\/td>\n
\n
\n8,95\u20ac<\/span><\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n
\n<\/div>\n
\nTotal: 51,87\u20ac<\/span><\/div>\n
\n<\/div>\n
\n<\/div>\n
\n3.        
\n<\/span><\/span><\/span><\/b>Circuitos: <\/span><\/b><\/div>\n\n\n\n\n
\n
\nCircuito para conectar los cuatro motores<\/span><\/div>\n
\n<\/a><\/div>\n<\/td>\n
\n
\nCircuito para conectar nuestro m\u00f3dulo Bluetooth<\/span><\/div>\n
\n<\/a><\/div>\n
\n<\/div>\n<\/td>\n<\/tr>\n
\n
\nCircuito para el sensor de obst\u00e1culos infrarrojo<\/span><\/div>\n
\n<\/div>\n
\n<\/div>\n
\n<\/div>\n
\n<\/div>\n
\n<\/div>\n
\n<\/a><\/div>\n<\/td>\n
\n
\n
Circuito para conectar el sensor de color<\/span><\/div>\n
\n<\/a><\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n<\/div>\n
\n4.        
\n<\/span><\/span><\/span><\/b>Aplicaci\u00f3n utilizada: <\/span><\/b><\/div>\n
\nLa aplicaci\u00f3n utilizada para el control del coche ha sido <\/span>Arduino Bluetooth RC Car, descargada en la
\nPlay Store. Su aspecto es el siguiente: <\/span><\/div>\n
\n<\/a><\/div>\n
\nDe todos los controles disponibles hemos decidido centrarnos en los
\ncontroles b\u00e1sicos de delante atr\u00e1s y girar a ambos lados, as\u00ed como en la
\nposibilidad de activar y desactivar las luces delanteras, los cuales pueden
\nutilizarse una vez la aplicaci\u00f3n se haya conectado al Bluetooth. <\/span><\/div>\n
\n<\/div>\n
\n5.        
\n<\/span><\/span><\/span><\/b>C\u00f3digo desarrollado:<\/span><\/b><\/div>\n
\nEn nuestro proyecto de Arduino tuvimos que utilizar dos c\u00f3digos distintos,
\nlos cuales exponemos posteriormente. El primero es necesario para poder
\nconfigurar nuestro m\u00f3dulo Bluetooth. Una vez lo tengamos configurado entonces
\npodemos cargar en nuestra placa de Arduino el c\u00f3digo necesario para poder
\nutilizar nuestro coche. <\/span><\/div>\n
\nPor tanto, para configurar en un primer momento el
\nBluetooth utilizamos el siguiente c\u00f3digo:<\/span><\/div>\n
\n<\/div>\n
\n#include <SoftwareSerial.h><\/span><\/i><\/div>\n
\nSoftwareSerial BT(2,3); \/\/ RX, TX<\/span><\/i><\/div>\n
\n<\/div>\n
\nString nombre = \u00abPROMETEC\u00bb; \/\/Nombre de nuestro
\nBluetooth<\/span><\/i><\/div>\n
\nString password =\u00bb5678″;  <\/span>\/\/Contrase\u00f1a de nuestro Bluetooth<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid setup(){<\/span><\/i><\/div>\n
\n  <\/span>BT.begin(9600);<\/span><\/i><\/div>\n
\n  <\/span>pinMode
\n(13,OUTPUT);<\/span><\/i><\/div>\n
\n 
\n<\/span>digitalWrite(13,LOW) ;<\/span><\/i><\/div>\n
\n 
\n<\/span>BT.print(\u00abAT\u00bb);<\/span><\/i><\/div>\n
\n  <\/span>delay(1000);<\/span><\/i><\/div>\n
\n 
\n<\/span>BT.print(\u00abAT+NAMEPROMETEC\u00bb);<\/span><\/i><\/div>\n
\n 
\n<\/span>Serial.print(nombre);<\/span><\/i><\/div>\n
\n  <\/span>delay(1000);<\/span><\/i><\/div>\n
\n 
\n<\/span>BT.print(\u00abAT+PIN\u00bb);<\/span><\/i><\/div>\n
\n 
\n<\/span>BT.print(password);<\/span><\/i><\/div>\n
\n  <\/span>delay(1000);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite(13,HIGH)
\n;<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid loop(){<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nUna vez hemos configurado el Bluetooth podemos
\ncomenzar con el c\u00f3digo para controlar nuestro coche<\/span><\/div>\n
\n<\/div>\n
\n#include <SoftwareSerial.h><\/span><\/i><\/div>\n
\nSoftwareSerial BT(2, 3); \/\/Para el Bluetooth<\/span><\/i><\/div>\n
\n<\/div>\n
\n\/\/Control motores<\/span><\/i><\/div>\n
\n\/\/ Motor A<\/span><\/i><\/div>\n
\nint ENA = 6;<\/span><\/i><\/div>\n
\nint IN1 = 13;<\/span><\/i><\/div>\n
\nint IN2 = 12;<\/span><\/i><\/div>\n
\n\/\/ Motor B<\/span><\/i><\/div>\n
\nint ENB = 5;<\/span><\/i><\/div>\n
\nint IN3 = 11;<\/span><\/i><\/div>\n
\nint IN4 = 10;<\/span><\/i><\/div>\n
\n<\/div>\n
\nint vel = 150;<\/span><\/i><\/div>\n
\n<\/div>\n
\n\/\/Reconocimiento de Obst\u00e1culos <\/span><\/i><\/div>\n
\nint sensorObstaculos = 9;<\/span><\/i><\/div>\n
\n<\/div>\n
\n\/\/Reconocimiento de Color<\/span><\/i><\/div>\n
\nint S0 = A2;<\/span><\/i><\/div>\n
\nint S1 = A1;<\/span><\/i><\/div>\n
\nint S2 = A4;<\/span><\/i><\/div>\n
\nint S3 = A5;<\/span><\/i><\/div>\n
\nint sensorOut = A3;<\/span><\/i><\/div>\n
\n<\/div>\n
\n\/\/Frenos delanteros <\/span><\/i><\/div>\n
\nint i=1;<\/span><\/i><\/div>\n
\nint leds_adelante = 8;<\/span><\/i><\/div>\n
\n<\/div>\n
\n\/\/Luces freno<\/span><\/i><\/div>\n
\nint leds_stop = 4;<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid setup(){<\/span><\/i><\/div>\n
\n  <\/span>BT.begin(9600) ;<\/span><\/i><\/div>\n
\n<\/div>\n
\n  <\/span>\/\/ Declaraci\u00f3n
\npara los motores<\/span><\/i><\/div>\n
\n  <\/span>pinMode (ENA,
\nOUTPUT);<\/span><\/i><\/div>\n
\n  <\/span>pinMode (ENB,
\nOUTPUT);<\/span><\/i><\/div>\n
\n  <\/span>pinMode (IN1,
\nOUTPUT);<\/span><\/i><\/div>\n
\n  <\/span>pinMode (IN2,
\nOUTPUT);<\/span><\/i><\/div>\n
\n  <\/span>pinMode (IN3,
\nOUTPUT);<\/span><\/i><\/div>\n
\n  <\/span>pinMode (IN4,
\nOUTPUT);<\/span><\/i><\/div>\n
\n<\/div>\n
\n  <\/span>\/\/ Declaraci\u00f3n
\npara el sensor de obst\u00e1culos<\/span><\/i><\/div>\n
\n 
\n<\/span>pinMode(sensorObstaculos, INPUT);<\/span><\/i><\/div>\n
\n<\/div>\n
\n  <\/span>\/\/ Declaraciones
\npara el sensor de color<\/span><\/i><\/div>\n
\n  <\/span>pinMode(S0,
\nOUTPUT);<\/span><\/i><\/div>\n
\n  <\/span>pinMode(S1,
\nOUTPUT);<\/span><\/i><\/div>\n
\n  <\/span>pinMode(S2,
\nOUTPUT);<\/span><\/i><\/div>\n
\n  <\/span>pinMode(S3,
\nOUTPUT);<\/span><\/i><\/div>\n
\n 
\n<\/span>pinMode(sensorOut, INPUT);<\/span><\/i><\/div>\n
\n  <\/span><\/span><\/i><\/div>\n
\n  <\/span>\/\/ Setting
\nfrequency-scaling to 20%<\/span><\/i><\/div>\n
\n 
\n<\/span>digitalWrite(S0,HIGH);<\/span><\/i><\/div>\n
\n 
\n<\/span>digitalWrite(S1,LOW);<\/span><\/i><\/div>\n
\n<\/div>\n
\n  <\/span>\/\/Declaraci\u00f3n
\npara los leds<\/span><\/i><\/div>\n
\n 
\n<\/span>pinMode(leds_adelante, OUTPUT);<\/span><\/i><\/div>\n
\n 
\n<\/span>pinMode(leds_stop, OUTPUT);  <\/span><\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid loop(){<\/span><\/i><\/div>\n
\n  <\/span><\/span><\/i><\/div>\n
\n  <\/span>int
\nvalueObstaculos = 0;<\/span><\/i><\/div>\n
\n  <\/span>int frequency_red
\n= 0;<\/span><\/i><\/div>\n
\n  <\/span>int
\nfrequency_green = 0;<\/span><\/i><\/div>\n
\n  <\/span>int
\nfrequency_blue = 0;<\/span><\/i><\/div>\n
\n<\/div>\n
\n  <\/span>if
\n(BT.available()){<\/span><\/i><\/div>\n
\n    <\/span><\/span><\/i><\/div>\n
\n    <\/span>switch
\n(BT.read()){<\/span><\/i><\/div>\n
\n      <\/span>case ‘F’: <\/span><\/i><\/div>\n
\n      <\/span>\/\/comprobamos
\nsi hay obst\u00e1culo<\/span><\/i><\/div>\n
\n     
\n<\/span>valueObstaculos = digitalRead(sensorObstaculos);  <\/span><\/span><\/i><\/div>\n
\n      <\/span>\/\/recogemos
\nel color rojo<\/span><\/i><\/div>\n
\n     
\n<\/span>digitalWrite(S2,HIGH);<\/span><\/i><\/div>\n
\n     
\n<\/span>digitalWrite(S3,HIGH);<\/span><\/i><\/div>\n
\n      <\/span>frequency_red
\n= pulseIn(sensorOut, LOW);<\/span><\/i><\/div>\n
\n      <\/span>\/\/recogemos
\nel color verde<\/span><\/i><\/div>\n
\n     
\n<\/span>digitalWrite(S2,LOW);<\/span><\/i><\/div>\n
\n     
\n<\/span>digitalWrite(S3,LOW);<\/span><\/i><\/div>\n
\n      <\/span>frequency_green
\n= pulseIn(sensorOut, LOW);<\/span><\/i><\/div>\n
\n      <\/span>\/\/recogemos
\nel color azul<\/span><\/i><\/div>\n
\n     
\n<\/span>digitalWrite(S2,LOW);<\/span><\/i><\/div>\n
\n     
\n<\/span>digitalWrite(S3,HIGH);<\/span><\/i><\/div>\n
\n     
\n<\/span>frequency_blue = pulseIn(sensorOut, LOW);<\/span><\/i><\/div>\n
\n      <\/span>\/\/si
\nencuentra oscuridad o un obst\u00e1culo se para<\/span><\/i><\/div>\n
\n       
\n<\/span>if((frequency_red>249)&&(frequency_green>249)&&(frequency_blue>249)||((valueObstaculos
\n!= HIGH))){<\/span><\/i><\/div>\n
\n           
\n<\/span>Parar();<\/span><\/i><\/div>\n
\n            <\/span>break;<\/span><\/i><\/div>\n
\n        <\/span>}else{      <\/span><\/span><\/i><\/div>\n
\n         
\n<\/span>Adelante();<\/span><\/i><\/div>\n
\n          <\/span>break;<\/span><\/i><\/div>\n
\n        <\/span>}<\/span><\/i><\/div>\n
\n      <\/span>case ‘B’: <\/span><\/i><\/div>\n
\n        <\/span>Atras();<\/span><\/i><\/div>\n
\n        <\/span>break;<\/span><\/i><\/div>\n
\n      <\/span>case ‘R’:<\/span><\/i><\/div>\n
\n        <\/span>Derecha();<\/span><\/i><\/div>\n
\n        <\/span>break;<\/span><\/i><\/div>\n
\n      <\/span>case ‘L’: <\/span><\/i><\/div>\n
\n       
\n<\/span>Izquierda();  <\/span><\/span><\/i><\/div>\n
\n        <\/span>break;<\/span><\/i><\/div>\n
\n      <\/span>case ‘S’:<\/span><\/i><\/div>\n
\n        <\/span>Parar();<\/span><\/i><\/div>\n
\n        <\/span>break;<\/span><\/i><\/div>\n
\n      <\/span>case ‘W’:<\/span><\/i><\/div>\n
\n     
\n<\/span>encender_luces();<\/span><\/i><\/div>\n
\n      <\/span>break;    <\/span><\/span><\/i><\/div>\n
\n    <\/span>}<\/span><\/i><\/div>\n
\n  <\/span>}<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid Atras (){ <\/span><\/i><\/div>\n
\n 
\n<\/span>digitalWrite(leds_stop, LOW); <\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nA<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN1, LOW);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN2, HIGH);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENA,
\nvel); \/\/Velocidad motor A<\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nB<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN3, LOW);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN4, HIGH);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENB,
\nvel); \/\/Velocidad motor B<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid Adelante (){<\/span><\/i><\/div>\n
\n 
\n<\/span>digitalWrite(leds_stop, LOW); <\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nA<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN1, HIGH);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN2, LOW);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENA,
\nvel);  <\/span>\/\/Velocidad motor A<\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nB<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN3, HIGH);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN4, LOW);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENB,
\nvel); \/\/Velocidad motor B<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid Izquierda (){<\/span><\/i><\/div>\n
\n 
\n<\/span>digitalWrite(leds_stop, LOW); <\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nA<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN1, LOW);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN2, HIGH);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENA,
\nvel); \/\/Velocidad motor A<\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nB<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite (IN3,
\nHIGH);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN4, LOW);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENB,
\nvel); \/\/Velocidad motor A<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid Derecha (){<\/span><\/i><\/div>\n
\n 
\n<\/span>digitalWrite(leds_stop, LOW); <\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nA<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN1, HIGH);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN2, LOW);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENA,
\nvel); \/\/Velocidad motor A<\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nB<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN3, LOW);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN4, HIGH);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENB,
\nvel); \/\/Velocidad motor A<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid Parar (){<\/span><\/i><\/div>\n
\n 
\n<\/span>digitalWrite(leds_stop, HIGH);<\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nA <\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN1, LOW);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN2, LOW);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENA,
\n0); \/\/Velocidad motor A<\/span><\/i><\/div>\n
\n  <\/span>\/\/Direccion motor
\nB<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN3, LOW);<\/span><\/i><\/div>\n
\n  <\/span>digitalWrite
\n(IN4, LOW);<\/span><\/i><\/div>\n
\n  <\/span>analogWrite (ENB,
\n0); \/\/Velocidad motor A<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\nvoid encender_luces(){<\/span><\/i><\/div>\n
\n  <\/span>if(i==1){<\/span><\/i><\/div>\n
\n   
\n<\/span>digitalWrite(leds_adelante, HIGH); <\/span><\/i><\/div>\n
\n    <\/span>i=0;<\/span><\/i><\/div>\n
\n  <\/span>}else{<\/span><\/i><\/div>\n
\n   
\n<\/span>digitalWrite(leds_adelante, LOW); <\/span><\/i><\/div>\n
\n    <\/span>i=1;<\/span><\/i><\/div>\n
\n  <\/span>}<\/span><\/i><\/div>\n
\n}<\/span><\/i><\/div>\n
\n<\/div>\n
\n6.        
\n<\/span><\/span><\/span><\/b>Problemas encontrados y mejoras posibles:<\/span><\/b><\/div>\n
\nAunque hemos encontrado muchos problemas para
\nconseguir unificar el control de todos los elementos en un \u00fanico c\u00f3digo, los
\nmayores problemas encontrados han sido en el sensor de obst\u00e1culos y en el
\nsensor del color. <\/span><\/div>\n
\nDe cara al sensor de obst\u00e1culos infrarrojo el
\nmayor problema que encontramos es que, debido a la velocidad inicial de los
\nmotores, no era capaz de detectar el obst\u00e1culo a tiempo. Debido a esto nos
\nvimos obligados a reducir la velocidad lo m\u00e1ximo posible. Una posible mejora a
\nesto ser\u00eda utilizar utilizar unos mejores sensores. <\/span><\/div>\n
\nCon respecto al sensor de color los problemas
\nencontrados son que, los colores predefinidos en el sensor no coincid\u00edan con
\nlos valores reales que obten\u00edamos en el entorno, ya que la luz ambiente influ\u00eda
\nm\u00e1s de lo que esper\u00e1bamos. Una posible mejora a esto ser\u00eda a\u00f1adir un mayor
\nn\u00famero de sensores de color para obtener as\u00ed un dato m\u00e1s fiable. <\/span><\/div>\n
\n7.        
\n<\/span><\/span><\/span><\/b>Demostraci\u00f3n de su funcionamiento:<\/span><\/b><\/div>\n
\n
<\/span><\/b><\/div>\n
\n