Car No.05 is the project aiming to make a programmed automatic driving car.
In First Stage, I assembled a smaller turning radius R/C chassis and made a relationship table between steering servo value and turning radius.
In Second Stage, I made an Excel simulation program, to which car starting point, car starting direction and pass points were input, then from which steval and car direction were obtained as automatic driving data.
In Third Stage, I attached PC on car body, made Tachometers and automatic driving control system (plain-vanilla version) was tested.
In this Fourth Stage, further automatic driving system (strawberry version) is tested.
Direction measurement using censor is applied in this Strawberry version.
Various types of sensor are tested for direction measurement.
Code names of Tochiotome(gyro HS-EG3), Amaou(3-axis digital compass.HMC5843), Hinoshizuku1(3-axis gyro ITG-3200) and Hinoshizuku2(IMU Digital Combo Board - 6 DOF ITG3200/ADXL345) are tested.
Finally, Hinoshizuku1(3-axis gyro ITG-3200) is applied for Strawberry version.
Carefully check the picture, fourth Arduino is attached above central one.
Step 1: Sensors to be tested
- gyro HS-EG3 (+ Condenser 100uF, 0.10uF x 3, Resistance 100K ohm x 2)
- 3-axis digital compass HMC5843
- 3-axis gyro ITG-3200
- IMU Digital Combo Board - 6 DOF ITG3200/ADXL345
Connection between Arduino and Desktop PC is by bluetooth. BlueSMiRF for Arduino side and Parani-UD100 for PC side are used.
Step 2: Tochiotome(gyro HS-EG3)
Set HS-EG3, condensers and resistances on Arduino. (Refer to the product spec. http://www.mecharoboshop.com/Products/STLJapan/Tsukasa21-Tsukasa41-Specific%281-2%29.pdf, Vout --> A5)
Processing and Arduino codes
Upload Arduino code and run Processing code.
Rotate and move Arduino, and check azimuth shown in Processing screen.
It seems OK for slow movement, but for quick movement, this sensor cannot follow with.