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Sensor of contact the problem was a small qe gave false Pic the problem was that an overload
structure
Circuit Brain
Circuit Sensor
Maze
The first thing to do is #include <16f877A.h> // include the library's pic #FUSES HS #USE delay (clock=20000000)// defines the value of the quartz crystal #define trig PIN_A0 #define echo input(PIN_A1)// define the variable as input #define trigd (PIN_A2) #define echod input(PIN_A3)
int16 mide_distancia(void){ int16 centimetros=0; / / trigger pulse: output_high(trig); delay_us(30); output_low(trig); / / wait for the rising edge of pin miss while(echo==0); / / start counting until pin centimeters zero miss while(echo==1){ centimetros++; delay_us(58); / / and returns up delay to the value counted centimeters delay_ms (50); return (inches); } / / First sensor end
This code is used to measure distance from the first sensor for the second sensor only change variables
for not doing more extensive presentation if((distancia>10)&&(derecha<6)) // forward { output_low(pin_B0); delay_ms(100); output_high(pin_B1); delay_ms(100); output_high(pin_B2); delay_ms(100); output_low(pin_B3); delay_ms(100);
Duracion en Linea Recta Bateria recargables AA prueba 1 prueba 2 prueba 3 prueba 4 prueba 5 prueba 6 prueba 7 prueba 8 prueba 9 prueba 10 5.15 5.45 6.02 5.34 5.24 4.57 4.35 5.35 5.56 5.35 Prueba 6 Prueba 7 Prueba 8 19.15 16.4 18.36 Prueba 1 Prueba 2 Prueba 3 Prueba 4 Prueba 5 19 18.33 17.56 18.23 19.03
Duracion en Laberinto 14.13 14.36 15.23 16.12 14.46 15.35 13.52 16.35
Prueba 9
Prueba 10
17.26
18.58
17.32
14.35
Frecuencia
13
14 15 16 Duracion en Laberinto
17
17
Duracion en Laberinto
16
15
14
13
Frecuencia
16.5
17.0
19.5
20.0
3
Frecuencia
4.4
6.0
Bateria recargables AA
5.5
5.0
4.5
Advantage
FERMIN
This project is like a base fot the creation of another autonomous systen more advance, be able to work out it self, evaluating the conditions in that he is found.
It started a prototype purchased. The design was innovate The copyright its of the team