Nesne Takibi. Joistik ile Lazer Konum Kayıt
Renkli cisim takibi projemi biraz geliştirerek sizlerle paylaşmak istedim arkadaşlar . Ayrıntılı olarak videoda yer alan projemin dokumalarını buradan paylaşıyorum. Bilgisayar için hazırlanmış arayüzde kameradan gelen görüntüyü alarak renk filtreleme yapıyoruz. Servolar sayesinde kameramız rengi filtre edilmiş nesneyi takibe başlıyor.
Pc Arayüz Yazılım:
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Drawing.Imaging;
using System.Windows.Forms;
using AForge;
using AForge.Imaging.Filters;
using AForge.Imaging;
using AForge.Video;
using AForge.Video.DirectShow;
using AForge.Math.Geometry;
using System.IO.Ports;
using System.IO;
//Remove ambiguousness between AForge.Image and System.Drawing.Image
using Point = System.Drawing.Point; //Remove ambiguousness between AForge.Point and System.Drawing.Point
namespace WindowsFormsApplication1
{
public partial class Form1 : Form
{
string[] ports = SerialPort.GetPortNames();
private FilterInfoCollection VideoCapTureDevices;
private VideoCaptureDevice Finalvideo;
public Form1()
{
InitializeComponent();
}
int objectX;
int objectY;
int hedef;
int R; //Trackbarın değişkeneleri
int G;
int B;
private void Form1_Load(object sender, EventArgs e)
{
VideoCapTureDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
foreach (FilterInfo VideoCaptureDevice in VideoCapTureDevices)
{
comboBox1.Items.Add(VideoCaptureDevice.Name);
}
comboBox1.SelectedIndex = 0;
foreach (string port in ports)
{
comboBox2.Items.Add(port);
comboBox2.SelectedIndex = 0;
}
comboBox3.Items.Add("2400");
comboBox3.Items.Add("4800");
comboBox3.Items.Add("9600");
comboBox3.Items.Add("19200");
comboBox3.Items.Add("115200");
comboBox3.SelectedIndex = 2;
//AÇILIŞTA BAĞLANTININ KAPALI OLDUĞUNU BELİRT.
label16.Text = "Bağlantı Kapalı";
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
{
// Form kapandığında SerialPort1 portu kapat.
if (serialPort1.IsOpen == true)
{
serialPort1.Close();
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
try
{
string sonuc = serialPort1.ReadExisting();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
timer1.Stop();
}
}
private void button1_Click(object sender, EventArgs e)
{
timer1.Start();
if (serialPort1.IsOpen == false)
{
if (comboBox2.Text == "")
return;
serialPort1.PortName = comboBox2.Text;
serialPort1.BaudRate = Convert.ToInt16(comboBox3.Text);
try
{
serialPort1.Open();
label16.ForeColor = Color.Green;
label16.Text = "Bağlantı Açık";
}
catch (Exception hata)
{
MessageBox.Show("Hata:" + hata.Message);
}
}
else
{
label16.Text = "Bağlantı kurulu !!!";
}
Finalvideo = new VideoCaptureDevice(VideoCapTureDevices[comboBox1.SelectedIndex].MonikerString);
Finalvideo.NewFrame += new NewFrameEventHandler(Finalvideo_NewFrame);
Finalvideo.DesiredFrameRate = 20;//saniyede kaç görüntü alsın istiyorsanız. FPS
Finalvideo.DesiredFrameSize = new Size(320, 240);//görüntü boyutları
Finalvideo.Start();
}
void Finalvideo_NewFrame(object sender, NewFrameEventArgs eventArgs)
{
Bitmap image = (Bitmap)eventArgs.Frame.Clone();
Bitmap image1 = (Bitmap)eventArgs.Frame.Clone();
pictureBox1.Image = image;
if (rdiobtnKirmizi.Checked)
{
// create filter
EuclideanColorFiltering filter = new EuclideanColorFiltering();
// set center colol and radius
filter.CenterColor = new RGB(Color.FromArgb(215, 183, 0));
filter.Radius = 100;
// apply the filter
filter.ApplyInPlace(image1);
nesnebul(image1);
}
if (rdiobtnMavi.Checked)
{
// create filter
EuclideanColorFiltering filter = new EuclideanColorFiltering();
// set center color and radius
filter.CenterColor = new RGB(Color.FromArgb(0, 255, 255));
filter.Radius = 100;
// apply the filter
filter.ApplyInPlace(image1);
nesnebul(image1);
}
if(rdiobtnYesil.Checked){
// create filter
EuclideanColorFiltering filter = new EuclideanColorFiltering();
// set center color and radius
filter.CenterColor = new RGB(Color.FromArgb(98, 183, 0));
filter.Radius = 100;
// apply the filter
filter.ApplyInPlace(image1);
nesnebul(image1);
}
if (rdbtnElleBelirleme.Checked)
{
// create filter
EuclideanColorFiltering filter = new EuclideanColorFiltering();
// set center colol and radius
filter.CenterColor = new RGB(Color.FromArgb(R, G, B));
filter.Radius = 100;
// apply the filter
filter.ApplyInPlace(image1);
nesnebul(image1);
}
}
public void nesnebul(Bitmap image)
{
BlobCounter blobCounter = new BlobCounter();
blobCounter.MinWidth = 5;
blobCounter.MinHeight = 5;
blobCounter.FilterBlobs = true;
blobCounter.ObjectsOrder = ObjectsOrder.Size;
//Grayscale griFiltre = new Grayscale(0.2125, 0.7154, 0.0721);
//Grayscale griFiltre = new Grayscale(0.2, 0.2, 0.2);
//Bitmap griImage = griFiltre.Apply(image);
BitmapData objectsData = image.LockBits(new Rectangle(0, 0, image.Width, image.Height), ImageLockMode.ReadOnly, image.PixelFormat);
// grayscaling
Grayscale grayscaleFilter = new Grayscale(0.2125, 0.7154, 0.0721);
UnmanagedImage grayImage = grayscaleFilter.Apply(new UnmanagedImage(objectsData));
// unlock image
image.UnlockBits(objectsData);
blobCounter.ProcessImage(image);
Rectangle[] rects = blobCounter.GetObjectsRectangles();
Blob[] blobs = blobCounter.GetObjectsInformation();
pictureBox2.Image = image;
//Tekli cisim Takibi Single Tracking--------
foreach (Rectangle recs in rects)
{
if (rects.Length > 0)
{
Rectangle objectRect = rects[0];
//Graphics g = Graphics.FromImage(image);
Graphics g = pictureBox1.CreateGraphics();
using (Pen pen = new Pen(Color.FromArgb(252, 3, 26), 2))
{
g.DrawRectangle(pen, objectRect);
}
//Cizdirilen Dikdörtgenin Koordinatlari aliniyor.
int objectX = objectRect.X + (objectRect.Width / 2);
int objectY = objectRect.Y + (objectRect.Height / 2);
// g.DrawString(objectX.ToString() + "X" + objectY.ToString(), new Font("Arial", 12), Brushes.Red, new System.Drawing.Point(250, 1));
g.Dispose();
this.Invoke((MethodInvoker)delegate
{
// richTextBox1.Text = objectRect.Location.ToString() + "\n" + richTextBox1.Text + "\n"; ;
label19.Text = objectX.ToString();
label20.Text = objectY.ToString();
//serialPort1.Write("a");
string angle1 = objectX.ToString();
string angle2 = objectY.ToString();
string angle3 = hedef.ToString();
serialPort1.WriteLine(angle1);
serialPort1.WriteLine(",");
serialPort1.WriteLine(angle2);
serialPort1.WriteLine(";");
serialPort1.WriteLine(angle3);
serialPort1.WriteLine(":");
hedef = 0;
});
}
}
}
// Conver list of AForge.NET's points to array of .NET points
private Point[] ToPointsArray(List<IntPoint> points)
{
Point[] array = new Point[points.Count];
for (int i = 0, n = points.Count; i < n; i++)
{
array[i] = new Point(points[i].X, points[i].Y);
}
return array;
}
private void button2_Click(object sender, EventArgs e)
{
if (Finalvideo.IsRunning)
{
Finalvideo.Stop();
}
}
private void trackBar1_Scroll(object sender, EventArgs e)
{
R = trackBar1.Value;
label12.Text = R.ToString();
}
private void trackBar2_Scroll(object sender, EventArgs e)
{
G = trackBar2.Value;
label13.Text = G.ToString();
}
private void trackBar3_Scroll(object sender, EventArgs e)
{
B = trackBar3.Value;
label14.Text = B.ToString();
}
private void button3_Click(object sender, EventArgs e)
{
if (Finalvideo.IsRunning)
{
Finalvideo.Stop();
}
Application.Exit();
timer1.Stop();
if (serialPort1.IsOpen == true)
{
serialPort1.Close();
label16.ForeColor = Color.Red;
label16.Text = "Bağlantı Kapalı";
}
}
private void button4_Click(object sender, EventArgs e)
{
hedef = 1;
}
}}
Arduino Yazılım:
#include <Servo.h> //Servo kütüphanesi
#include <EEPROM.h>
#include <LiquidCrystal.h>
LiquidCrystal lcd(13 , 12, 11 , 10 , 9 , 8);
Servo horizontal;
int servoh = 90;
char Char;
Servo vertical;
int servov = 90;
int x_gelen;
int y_gelen;
int servo_x = 90;
int servo_y = 90;
int x_veri;
int y_veri;
String x, y, h;
int x_koor, y_koor, hedef;
int ax = 90;
int ay = 90;
const byte lazer = 7;
const byte buzzer = 4;
const byte led = A5;
const byte ok_pini = A0;
const byte x_pini = A1;
const byte y_pini = A2;
const byte ayar_pini = A3;
const byte buton_pini = A4;
int x_deger;
int y_deger;
int ayar_deger;
int buton_deger;
int ok_deger;
int bir_x_deger;
int bir_y_deger;
int iki_x_deger;
int iki_y_deger;
int uc_x_deger;
int uc_y_deger;
int dort_x_deger;
int dort_y_deger;
int bes_x_deger;
int bes_y_deger;
int birx = 50; // eepromdaki değişken adres
int biry = 51; // eepromdaki değişken adres
int ikix = 52; // eepromdaki değişken adres
int ikiy = 53; // eepromdaki değişken adres
int ucx = 54; // eepromdaki değişken adres
int ucy = 55; // eepromdaki değişken adres
int dortx = 56; // eepromdaki değişken adres
int dorty = 57; // eepromdaki değişken adres
int besx = 60; // eepromdaki değişken adres
int besy = 61; // eepromdaki değişken adres
int a = 90;
int b = 90;
void setup()
{
lcd.begin(16, 2);
Serial.begin(9600);
bir_x_deger = EEPROM.read(birx);
iki_x_deger = EEPROM.read(ikix);
uc_x_deger = EEPROM.read(ucx);
dort_x_deger = EEPROM.read(dortx);
bes_x_deger = EEPROM.read(besx); // eepromdaki değişken adres
bir_y_deger = EEPROM.read(biry);
iki_y_deger = EEPROM.read(ikiy);
uc_y_deger = EEPROM.read(ucy);
dort_y_deger = EEPROM.read(dorty);
bes_y_deger = EEPROM.read(besy); // eepromdaki değişken adres
pinMode(led, OUTPUT);
pinMode(buzzer, OUTPUT);
pinMode(lazer, OUTPUT);
horizontal.attach(6); // yatay
vertical.attach(5); // dikey
horizontal.write(90);
vertical.write(90);
}
void loop()
{
digitalWrite(lazer, HIGH);
x_deger = analogRead(x_pini);
y_deger = analogRead(y_pini);
ayar_deger = analogRead(ayar_pini);
ok_deger = analogRead(ok_pini);
buton_deger = analogRead(buton_pini);
int servo_x = map(x_deger , 0, 1023, 0, 180);
int servo_y = map(y_deger , 0, 1023, 0, 180);
while (ayar_deger < 150)
{
//-------------------------------------------------------------------
//-------------------------------------------------------------------
if (Serial.available() > 0)
{
Char = Serial.read();
x = Serial.readStringUntil(',');
x_koor = x.toInt();// C# - Motor-1'den Gönderilen Deger
y = Serial.readStringUntil(';');
y_koor = y.toInt(); // C# - Motor-2'den Gönderilen Deger
h = Serial.readStringUntil(':');
hedef = h.toInt(); // C# - Motor-2'den Gönderilen Deger
lcd.setCursor (0, 0);
lcd.print("x_koor = ");
lcd.print( x.toInt());
lcd.print(" ");
lcd.setCursor (0, 1);
lcd.print("y_koor = ");
lcd.print(y.toInt());
lcd.print(" ");
// delay(55);
if (hedef == 1)
{
for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(100);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
}
else if (x_koor > 195)
{
servo_x = servo_x - 1;
}
else if (x_koor < 145)
{
servo_x = servo_x + 1;
}
else if (y_koor > 135)
{
servo_y = servo_y + 1;
}
else if (y_koor < 105)
{
servo_y = servo_y - 1;
}
while (x_koor > 144 && x_koor < 196 && y_koor > 104 && y_koor < 136)
{
if (Serial.available() > 0)
{
Char = Serial.read();
x = Serial.readStringUntil(',');
x_koor = x.toInt();// C# - Motor-1'den Gönderilen Deger
y = Serial.readStringUntil(';');
y_koor = y.toInt(); // C# - Motor-2'den Gönderilen Deger
h = Serial.readStringUntil(':');
hedef = h.toInt(); // C# - Motor-2'den Gönderilen Deger
}
lcd.setCursor (0, 0);
lcd.print("HEDEF SABIT ");
lcd.setCursor (0, 1);
lcd.print(" DURUMDA ATES ET");
buton_deger = analogRead(buton_pini);
ok_deger = analogRead(ok_pini);
if (buton_deger > 500 && buton_deger < 650 ) // 1. butonnnnnnnnnnnnnnnnnnnn
{
lcd.setCursor (0, 0);
lcd.print("ARACTAN 1.SEVIYE");
lcd.setCursor (0, 1);
lcd.print(" ATES EDILDI ");
for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(200);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
}
if (buton_deger > 650 && buton_deger < 700 ) // 2. butonnnnnnnnnnnnnnnnnnnn
{
lcd.setCursor (0, 0);
lcd.print("ARACTAN 2.SEVIYE");
lcd.setCursor (0, 1);
lcd.print(" ATES EDILDI ");
for (int a = 0; a < 7; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(200);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
}
if (buton_deger > 700 && buton_deger < 750 ) // 3. butonnnnnnnnnnnnnnnnnnnn
{
lcd.setCursor (0, 0);
lcd.print("ARACTAN 3.SEVIYE");
lcd.setCursor (0, 1);
lcd.print(" ATES EDILDI ");
for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(300);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
}
if (buton_deger > 750 && buton_deger < 800 ) // 4. butonnnnnnnnnnnnnnnnnnnn
{
lcd.setCursor (0, 0);
lcd.print("ARACTAN 4.SEVIYE");
lcd.setCursor (0, 1);
lcd.print(" ATES EDILDI ");
for (int a = 0; a < 7; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(300);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
}
if (buton_deger > 800 && buton_deger < 900 ) // 5. butonnnnnnnnnnnnnnnnnnnn
{
lcd.setCursor (0, 0);
lcd.print("ARACTAN 5.SEVIYE");
lcd.setCursor (0, 1);
lcd.print(" ATES EDILDI ");
for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(500);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(150);
}
}
if (hedef == 1)
{
lcd.setCursor (0, 0);
lcd.print(" BILGISAYARDAN ");
lcd.setCursor (0, 1);
lcd.print(" ATES EDILDI ");
for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(100);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
}
horizontal.write(servo_x);
vertical.write(servo_y);
}
if (servo_x > 180)
{
servo_x = 180;
}
if (servo_x < 0)
{
servo_x = 0;
}
if (servo_y > 170)
{
servo_y = 170;
}
if (servo_y < 20)
{
servo_y = 20;
}
horizontal.write(servo_x);
vertical.write(servo_y);
}
else
{
lcd.setCursor (0, 0);
lcd.print("BAGLANTI KURUNUZ");
lcd.setCursor (0, 1);
lcd.print(" HEDEF SECINIZ ");
}
ayar_deger = analogRead(ayar_pini);
}
lcd.clear();
while (ayar_deger > 150 && ayar_deger < 250)
{
ok_deger = analogRead(ok_pini);
buton_deger = analogRead(buton_pini);
x_deger = analogRead(x_pini);
y_deger = analogRead(y_pini);
int servo_x = map(x_deger , 0, 1023, 0, 180);
int servo_y = map(y_deger , 0, 1023, 0, 180);
Serial.print("servo_x ");
Serial.print(servo_x);
Serial.print( " servo_y ");
Serial.println(servo_y);
if (servo_x > 120)
{
a++;
if (a > 180)
a = 180;
horizontal.write(a);
}
else if (servo_x < 60)
{
a--;
if (a < 0)
a = 0;
horizontal.write(a);
}
else if (servo_y > 120)
{
b++;
if (b > 180)
b = 180;
vertical.write(b);
}
else if (servo_y < 60)
{
b--;
if (b < 0)
b = 0;
vertical.write(b);
}
if (buton_deger > 900)
{
a = 90;
b = 90;
horizontal.write(a);
vertical.write(b);
}
lcd.setCursor (0, 0);
lcd.print("1> ");
lcd.setCursor (3, 0);
lcd.print("x =");
lcd.print(a);
lcd.print(" ");
lcd.setCursor (9, 0);
lcd.print(" y =");
lcd.print(b);
lcd.print(" ");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(bir_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(bir_y_deger);
lcd.print(" ");
digitalWrite(led , LOW);
//----------------------------------------------------------------------
buton_deger = analogRead(buton_pini);
if (buton_deger > 500 && buton_deger < 650 || ok_deger < 500 )
{
bir_x_deger = a;
bir_y_deger = b;
lcd.setCursor (0, 1);
lcd.print("1>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(bir_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(bir_y_deger);
lcd.print(" ");
digitalWrite(led , HIGH);
delay(1000);
}
//----------------------------------------------------------------------
ayar_deger = analogRead(ayar_pini);
delay(50);
}
lcd.clear();
while (ayar_deger > 250 && ayar_deger < 390)
{
digitalWrite(led , LOW);
ok_deger = analogRead(ok_pini);
buton_deger = analogRead(buton_pini);
x_deger = analogRead(x_pini);
y_deger = analogRead(y_pini);
int servo_x = map(x_deger , 0, 1023, 0, 180);
int servo_y = map(y_deger , 0, 1023, 0, 180);
if (servo_x > 120)
{
a++;
if (a > 180)
a = 180;
horizontal.write(a);
}
else if (servo_x < 60)
{
a--;
if (a < 0)
a = 0;
horizontal.write(a);
}
else if (servo_y > 120)
{
b++;
if (b > 180)
b = 180;
vertical.write(b);
}
else if (servo_y < 60)
{
b--;
if (b < 0)
b = 0;
vertical.write(b);
}
if (buton_deger > 900)
{
a = 90;
b = 90;
horizontal.write(a);
vertical.write(b);
}
lcd.setCursor (0, 0);
lcd.print("2> ");
lcd.setCursor (3, 0);
lcd.print("x =");
lcd.print(a);
lcd.print(" ");
lcd.setCursor (9, 0);
lcd.print(" y =");
lcd.print(b);
lcd.print(" ");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(iki_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(iki_y_deger);
lcd.print(" ");
buton_deger = analogRead(buton_pini);
if (buton_deger > 650 && buton_deger < 700 || ok_deger < 500 ) // 2. butonnnnnnnnnnnnnnnnnnnn
{
iki_x_deger = a;
iki_y_deger = b;
lcd.setCursor (0, 1);
lcd.print("2>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(iki_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(iki_y_deger);
lcd.print(" ");
digitalWrite(led , HIGH);
delay(1000);
}
ayar_deger = analogRead(ayar_pini);
delay(50);
}
lcd.clear();
while (ayar_deger > 390 && ayar_deger < 625)
{
digitalWrite(led , LOW);
ok_deger = analogRead(ok_pini);
buton_deger = analogRead(buton_pini);
x_deger = analogRead(x_pini);
y_deger = analogRead(y_pini);
int servo_x = map(x_deger , 0, 1023, 0, 180);
int servo_y = map(y_deger , 0, 1023, 0, 180);
if (servo_x > 120)
{
a++;
if (a > 180)
a = 180;
horizontal.write(a);
}
else if (servo_x < 60)
{
a--;
if (a < 0)
a = 0;
horizontal.write(a);
}
else if (servo_y > 120)
{
b++;
if (b > 180)
b = 180;
vertical.write(b);
}
else if (servo_y < 60)
{
b--;
if (b < 0)
b = 0;
vertical.write(b);
}
if (buton_deger > 900)
{
a = 90;
b = 90;
horizontal.write(a);
vertical.write(b);
}
lcd.setCursor (0, 0);
lcd.print("3> ");
lcd.setCursor (3, 0);
lcd.print("x =");
lcd.print(a);
lcd.print(" ");
lcd.setCursor (9, 0);
lcd.print(" y =");
lcd.print(b);
lcd.print(" ");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(uc_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(uc_y_deger);
lcd.print(" ");
buton_deger = analogRead(buton_pini);
if (buton_deger > 700 && buton_deger < 750 || ok_deger < 500 ) // 3. butonnnnnnnnnnnnnnnnnnnn
{
uc_x_deger = a;
uc_y_deger = b;
lcd.setCursor (0, 1);
lcd.print("3>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(uc_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(uc_y_deger);
lcd.print(" ");
digitalWrite(led , HIGH);
delay(1000);
}
ayar_deger = analogRead(ayar_pini);
delay(50);
}
lcd.clear();
while (ayar_deger > 625 && ayar_deger < 870)
{
digitalWrite(led , LOW);
ok_deger = analogRead(ok_pini);
buton_deger = analogRead(buton_pini);
x_deger = analogRead(x_pini);
y_deger = analogRead(y_pini);
int servo_x = map(x_deger , 0, 1023, 0, 180);
int servo_y = map(y_deger , 0, 1023, 0, 180);
if (servo_x > 120)
{
a++;
if (a > 180)
a = 180;
horizontal.write(a);
}
else if (servo_x < 60)
{
a--;
if (a < 0)
a = 0;
horizontal.write(a);
}
else if (servo_y > 120)
{
b++;
if (b > 180)
b = 180;
vertical.write(b);
}
else if (servo_y < 60)
{
b--;
if (b < 0)
b = 0;
vertical.write(b);
}
if (buton_deger > 900)
{
a = 90;
b = 90;
horizontal.write(a);
vertical.write(b);
}
lcd.setCursor (0, 0);
lcd.print("4> ");
lcd.setCursor (3, 0);
lcd.print("x =");
lcd.print(a);
lcd.print(" ");
lcd.setCursor (9, 0);
lcd.print(" y =");
lcd.print(b);
lcd.print(" ");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(dort_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(dort_y_deger);
lcd.print(" ");
buton_deger = analogRead(buton_pini);
if (buton_deger > 750 && buton_deger < 800 || ok_deger < 500 ) // 4. butonnnnnnnnnnnnnnnnnnnn
{
dort_x_deger = a;
dort_y_deger = b;
lcd.setCursor (0, 1);
lcd.print("4>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(dort_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(dort_y_deger);
lcd.print(" ");
digitalWrite(led , HIGH);
delay(1000);
}
ayar_deger = analogRead(ayar_pini);
delay(50);
}
lcd.clear();
EEPROM.write(birx,(bir_x_deger));
EEPROM.write(ikix,(iki_x_deger));
EEPROM.write(ucx,(uc_x_deger));
EEPROM.write(dortx,(dort_x_deger));
EEPROM.write(besx,(bes_x_deger));
EEPROM.write(biry,(bir_y_deger));
EEPROM.write(ikiy,(iki_y_deger));
EEPROM.write(ucy,(uc_y_deger));
EEPROM.write(dorty,(dort_y_deger));
EEPROM.write(besy,(bes_y_deger)); // eeprom adrese değeri yaz
while (ayar_deger > 870 && ayar_deger < 990)
{
digitalWrite(led , LOW);
ok_deger = analogRead(ok_pini);
buton_deger = analogRead(buton_pini);
x_deger = analogRead(x_pini);
y_deger = analogRead(y_pini);
int servo_x = map(x_deger , 0, 1023, 0, 180);
int servo_y = map(y_deger , 0, 1023, 0, 180);
if (servo_x > 120)
{
a++;
if (a > 180)
a = 180;
horizontal.write(a);
}
else if (servo_x < 60)
{
a--;
if (a < 0)
a = 0;
horizontal.write(a);
}
else if (servo_y > 120)
{
b++;
if (b > 180)
b = 180;
vertical.write(b);
}
else if (servo_y < 60)
{
b--;
if (b < 0)
b = 0;
vertical.write(b);
}
if (buton_deger > 900)
{
a = 90;
b = 90;
horizontal.write(a);
vertical.write(b);
}
lcd.setCursor (0, 0);
lcd.print("5> ");
lcd.setCursor (3, 0);
lcd.print("x =");
lcd.print(a);
lcd.print(" ");
lcd.setCursor (9, 0);
lcd.print(" y =");
lcd.print(b);
lcd.print(" ");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(bes_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(bes_y_deger);
lcd.print(" ");
buton_deger = analogRead(buton_pini);
if (buton_deger > 800 && buton_deger < 900 || ok_deger < 500 ) // 5. butonnnnnnnnnnnnnnnnnnnn
{
bes_x_deger = a;
bes_y_deger = b;
lcd.setCursor (0, 1);
lcd.print("5>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(bes_x_deger);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(bes_y_deger);
lcd.print(" ");
digitalWrite(led , HIGH);
delay(1000);
}
ayar_deger = analogRead(ayar_pini);
delay(50);
}
lcd.clear();
ax=90;
ay=90;
horizontal.write(90);
vertical.write(90);
while (ayar_deger > 990) // pot kitap sec konum
{
lcd.setCursor (0, 0);
lcd.print("Kitap Seciniz ");
digitalWrite(led , LOW);
buton_deger = analogRead(buton_pini);
if (buton_deger > 500 && buton_deger < 650 )// 1 e git
{
lcd.setCursor (14, 0);
lcd.print("1.");
while (ax < bir_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("1>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax++;
}
while (ax > bir_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("1>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax--;
}
while (ay < bir_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("1>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay++;
}
while (ay > bir_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("1>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay--;
}
digitalWrite(led , HIGH);
delay(1000);
for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(100);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
lcd.setCursor (0, 1);
lcd.print("SIFIRLAMA >< BAS");
}
if (buton_deger > 650 && buton_deger < 700 )// 2 e git
{
lcd.setCursor (14, 0);
lcd.print("2.");
// horizontal.write(iki_x_deger);
// vertical.write(iki_y_deger);
while (ax < iki_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("2>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax++;
}
while (ax > iki_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("2>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax--;
}
while (ay < iki_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("2>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay++;
}
while (ay > iki_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("2>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay--;
}
digitalWrite(led , HIGH);
delay(1000);
for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(100);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
lcd.setCursor (0, 1);
lcd.print("SIFIRLAMA >< BAS");
}
if (buton_deger > 700 && buton_deger < 750 )// 3 e git
{
digitalWrite(led , HIGH);
lcd.setCursor (14, 0);
lcd.print("3.");
// horizontal.write(uc_x_deger);
// vertical.write(uc_y_deger);
while (ax < uc_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("3>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax++;
}
while (ax > uc_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("3>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax--;
}
while (ay < uc_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("3>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay++;
}
while (ay > uc_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("3>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay--;
}
delay(1000); for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(100);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
lcd.setCursor (0, 1);
lcd.print("SIFIRLAMA >< BAS");
}
if (buton_deger > 750 && buton_deger < 800 )// 4 e git
{
digitalWrite(led , HIGH);
lcd.setCursor (14, 0);
// horizontal.write(dort_x_deger);
// vertical.write(dort_y_deger);
while (ax < dort_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("4>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax++;
}
while (ax > dort_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("4>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax--;
}
while (ay < dort_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("4>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay++;
}
while (ay > dort_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("4>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay--;
}
delay(1000); for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(100);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
lcd.setCursor (0, 1);
lcd.print("SIFIRLAMA >< BAS");
}
if (buton_deger > 800 && buton_deger < 900 ) // 5 e git
{
digitalWrite(led , HIGH);
lcd.setCursor (14, 0);
while (ax < bes_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("5>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax++;
}
while (ax > bes_x_deger)
{
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print("5>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ax--;
}
while (ay < bes_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("5>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay++;
}
while (ay > bes_y_deger)
{
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print("5>>");
lcd.setCursor (3, 1);
lcd.print("x =");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
ay--;
}
delay(1000); for (int a = 0; a < 5; a++)
{
digitalWrite(buzzer, 1);
digitalWrite(lazer, LOW);
delay(100);
digitalWrite(lazer, HIGH);
digitalWrite(buzzer, 0);
delay(50);
}
lcd.setCursor (0, 1);
lcd.print("SIFIRLAMA >< BAS");
}
if ( buton_deger > 900 ) // ortala
{
lcd.setCursor (0, 0);
lcd.print("Makanizma Ortaya");
lcd.setCursor (0, 1);
lcd.print(" ALINIYOR ");
delay(1000);
lcd.setCursor (0, 0);
lcd.print(">>>>>>>><<<<<<<<");
lcd.setCursor (0, 1);
lcd.print("ax ");
lcd.print(ax);
lcd.print(" ay ");
lcd.print(ay);
lcd.print(" ");
while (ax > 90)
{
ax--;
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print(" x = ");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
}
while (ax < 90)
{
ax++;
horizontal.write(ax);
lcd.setCursor (0, 1);
lcd.print(" x = ");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
}
while (ay > 90)
{
ay--;
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print(" x = ");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
}
while (ay < 90)
{
ay++;
vertical.write(ay);
lcd.setCursor (0, 1);
lcd.print(" x = ");
lcd.print(ax);
lcd.print(" ");
lcd.setCursor (9, 1);
lcd.print(" y =");
lcd.print(ay);
lcd.print(" ");
delay(50);
}
delay(1000);
lcd.setCursor (0, 1);
lcd.print("BUTON 1-2-3-4-5-");
}
ayar_deger = analogRead(ayar_pini);
}
// delay(200);
// }
}
Etiketler: c ara yüz, joistik kullanımı, konum belirleme, konum kayıt, lazer, nesne takip, pc arayüz, pc ile arduino kontrol, proje, renkli cisim takip
Eklenme Tarihi: 16 Haziran 2019
Diğer Konular
Arduino Sıvı Dolum Projesi
Zamanlayıcı || Gün ve Saat Ayarı
Arduino Programlanabilir Şerit Led
Kuluçka Makinesi v.3
Arduino Ürün Sayıcı & Andorid uygulama
433 mHz Alıcı 6-8 Kanal Kumanda
Kapadokya GSM Shield || RFID Kart Okuyucu
Arduino Renk Ayıran Proje
Serummatik
Arduino Adreslenebilir Şerit LED 2 Farklı Oyun
Arduino Akıllı Yaya Geçidi
Esp8266 & Ethernet Mödülü & Android Uygulama
Arduino Şifreli Kapı Projesi
Arduino & Android Toprak Sulama
Labirent Oyunu
Su Isıtıcı & DS18b20 Sensörü
Yemekhane Giriş Sistemi
Arduino Otopark Projesi
hocam merhaba proje hakkında sizle görüşmek isterim
0553 404 81 14 WhatsApp
Hocam merhabalar, aradığım sisteme benzer diye bu örneğin altına yazıyorum. Bana Hareketli hedefi takip eden robot atış sistemi ile ilgili bir uygulama gerekiyor, askerimize bir yardımınız dokunur mu? Saygılar
hocam iyi günler arduino ve görüntü işleme pycharmında olduğu bir proje yapmamız istenildi bu olur mu kod u pycharm a yazsam ya da başka proje öneriniz var mıdır?
Benim yapabildiğim görüntü işleme bu projem birde bunun sade hali. Zaten burada görüntü işlemeyi bilgisayar yapıyor. Başka tecrübem olmadi
İyi günler hocam proje ödevi olarak bu konuyu seçtim buna benzer başka bir proje yapan yok online eğitim öğrencisi olduğumuz için de konu hakkında yeterli bilgiye sahip değiliz rica etsem bana yardımcı olabilir misiniz
0553 404 81 14 ten bana ulaşabilirsiniz
hocam merhaba Samsun Ondokuz mayıs üniversitesi öğrencisiyim bu tarz bi projeyi final ödevi olarak aldım fakat internette buna benzer başka bir proje yapan yok online eğitim öğrencisi olduğumuz için de konu hakkında yeterli bilgiye sahip değiliz rica etsem bana yardımcı olabilir misiniz bi kaç noktada
WhatsApp üzerinden iletişim kurulmuştur.
Hocam arayüze nasıl ulaşabiliriz…
Ara yüz yazılımı paylaşıldı Hazır halde ise proje talebinde mail atılmakta
Arayüz kodunu hangi programa ve tam olarak nereye yapıştırıyoruz
Vusial studio programında arayüz oluşturmanız lazım. Bana whatsapp tan mesaj atın hazır arayüz indirme linkini atayım.