Robot Seguidor de Líneas

May 18, 2023 | Author: Anonymous | Category: N/A
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TBDBZ VKH[OJBT JK EÃLKAV Ke prbpösotb jke prkskltk tradaib ks ea jk ocpekckltar ul ksqukca jk ul rbdbt skhuojbr jk eãlka, para keeb sk voklk utoeozaljb COFTBFBLZTBEEKT COFTBFBLZTBEEKT POF1=G:;;0 y ke ksqukca jk Z[TZEK utoeozajb kl ebs kikcpebs ocpekckltajbs kl PTBZK[V fbcb cïtbjb jk aprkljozaik.

O. 

BDIKZOWB

1.1.  Bdiktovb Hklkrae Vocuear y fblbfkr cás afkrfa jk ebs rbdbts skhuojbrks jk eãlka.

1.4.  Bdiktovbs Kspkfãgofbs 1.  Vocueafoöl kl prbtkbs jk skhuojbr jk eãlka. 4.  Kltkljkr ke gulfoblacokltb jk ul skhuojbr jk eãlka.

OO.  CAZKTOAE 4.1.  Catkroaeks utoeozajbs  

1 FT_VZAE CJG

 

: DBZBLKV

 

; TKVOVZKLFOAV jk 10N

 

4 FAPAFOZBTKV JK 40lG

 

COFTBFBLZTBEEKT POF1=G:;;0

 

Z[TZEK (CBJKEB K]ZTAÃJB JK EBV EB V KIKCPEBV OCPEKCKLZAJBV KL PTBZK[V)













4.4.  Olgbrcafoöl sbgtwark Prbtkus =.10 VP0 (duoej 4?406).

 

OOO.  FÖJOHB G[KLZK KL F #jkgolk   OL OL   1   #jkgolk #jkgolk  #jkgolk  B[Z B[Z   0   #jkgolk  lkhrb #jkgolk  lkhrb   1   #jkgolk  #jkgolk  dealfb dealfb   0   sdot s1 at TA0Rdot> sdot s4 at TA1Rdot> sdot s6 at TA4Rdot> sdot JOTRs1 at ZTOVA0Rdot> sdot JOTRs4 at ZTOVA1Rdot> sdot JOTRs6 at ZTOVA4Rdot> sdot sdot sdot sdot

ftreC11 ftreC14 ftreC41 ftreC44

at at at at

TJ0Rdot> TJ1Rdot> TJ7Rdot> TJ8Rdot>

sdot sdot sdot sdot

JOTRftreC11 JOTRftreC14 JOTRftreC41 JOTRftreC44

at at at at

sdot sdot sdot sdot

dtl[P dtlJBXL dtlEKGZ dtlTOHMZ

TD0Rdot> TD1Rdot> TD4Rdot> TD6Rdot>

sdot sdot sdot sdot

JOTRdtl[P JOTRdtlJBXL JOTRdtlEKGZ JOTRdtlTOHMZ

at at at at

at at at at

ZTOVJ0Rdot> ZTOVJ1Rdot> ZTOVJ7Rdot> ZTOVJ8Rdot>

ZTOVD0Rdot> ZTOVD1Rdot> ZTOVD4Rdot> ZTOVD6Rdot>

vboj cbtbr1Rup vboj  cbtbr1Rup()> ()> vboj  vboj  cbtbr1Rjbwl cbtbr1Rjbwl()> ()> vboj  vboj  cbtbr1Rparar cbtbr1Rparar()> ()> vboj cbtbr4Rup vboj  cbtbr4Rup()> ()> vboj  vboj  cbtbr4Rjbwl cbtbr4Rjbwl()> ()> vboj  vboj  cbtbr4Rparar cbtbr4Rparar()> ()> vboj avalzar vboj  avalzar()> ()> vboj  vboj  atras atras()> ()> vboj  vboj  ozquokrja ozquokrja()> ()> vboj  vboj  jkrkfma jkrkfma()> ()>

olt J[Z_1, J[Z_4> olt J[Z_1, olt dask olt  dask3 380 80, , faltojaj> vboj  vboj  caol caol( (vboj vboj){ ){ AJFBL1 3 1; 1;> > J[Z_1 3 dask> J[Z_4 3 dask> JOTRs1 3OL> JOTRs13 JOTRs43 JOTRs4 3OL> JOTRs63 JOTRs6 3OL> JOTRdtl[P JOTRdtlJBXL JOTRdtlEKGZ JOTRdtlTOHMZ

3 OL> 3 OL> 3 OL> 3 OL>

JOTRftreC11 3 B[Z> JOTRftreC14 JOTRftreC41 3 3 B[Z>  B[Z> JOTRftreC44 3 B[Z>

vboj  vboj  cbtbr1Rup cbtbr1Rup(){ (){ ftreC11 3 0> ftreC14 3 1> } vboj  vboj  cbtbr1Rjbwl cbtbr1Rjbwl(){ (){ ftreC11 3 1> ftreC14 3 0> } vboj  vboj  cbtbr1Rparar cbtbr1Rparar(){ (){ ftreC11 3 0> ftreC14 3 0> } vboj  vboj  cbtbr4Rup cbtbr4Rup(){ (){ ftreC41 3 1> ftreC44 3 0> } vboj  vboj  cbtbr4Rjbwl cbtbr4Rjbwl(){ (){ ftreC41 3 0> ftreC44 3 1> } vboj  vboj  cbtbr4Rparar cbtbr4Rparar(){ (){ ftreC41 3 0> ftreC44 3 0> } vboj  vboj  avalzar avalzar(){ (){ cbtbr1Rup()> cbtbr1Rup ()> cbtbr4Rup()> cbtbr4Rup ()> } vboj  vboj  atras atras(){ (){ cbtbr1Rjbwl()> cbtbr1Rjbwl ()> cbtbr4Rjbwl()> cbtbr4Rjbwl ()> } vboj  vboj  ozquokrja ozquokrja(){ (){ cbtbr1Rjbwl()> cbtbr1Rjbwl ()> cbtbr4Rup()> cbtbr4Rup ()> } vboj  vboj  jkrkfma jkrkfma(){ (){ cbtbr4Rparar()> cbtbr4Rparar ()> cbtbr1Rup()> cbtbr1Rup ()> }

 

  PXC1ROlofoar (;000 PXC1ROlofoar( ;000)> )> PXC4ROlofoar( PXC4ROlofoar (;000 ;000)> )> PXC1RJ[Z_(J[Z_1)> PXC1RJ[Z_ (J[Z_1)> PXC4RJ[Z_(J[Z_4)> PXC4RJ[Z_ (J[Z_4)> PXCRFbcklzar()> PXCRFbcklzar ()> wmoek( wmoek (1){ og(s133 og(s1 33lkhrb lkhrb og(s1 og (s133 33dealfb dealfb

&& s433 && s4 33lkhrb lkhrb && s4 &&  s433 33lkhrb lkhrb

&&  s633 && s6 33lkhrb) lkhrb) && s6 &&  s633 33lkhrb) lkhrb)

faltojaj3 faltojaj 360 60> > faltojaj360 faltojaj3 60> >

og(s133 og(s1 33dealfb dealfb og(s1 og (s133 33lkhrb lkhrb og(s1 og (s133 33lkhrb lkhrb og(s1 og (s133 33dealfb dealfb og(s1 og (s133 33dealfb dealfb

&& s433 && s4 33dealfb dealfb && s4 &&  s433 33lkhrb lkhrb && s4 &&  s433 33dealfb dealfb && s4 &&  s433 33lkhrb lkhrb && s4 &&  s433 33dealfb dealfb

&&  s633 && s6 33lkhrb) lkhrb) && s6 &&  s633 33dealfb) dealfb) && s6 &&  s633 33dealfb) dealfb) && s6 &&  s633 33dealfb) dealfb) && s6 &&  s633 33dealfb) dealfb)

faltojaj3 faltojaj 360 60> > faltojaj3-60 faltojaj360> > faltojaj3-60 faltojaj360> > faltojaj30> faltojaj3 faltojaj30> faltojaj3

J[Z_1 3 J[Z_1 + faltojaj> J[Z_4 3 J[Z_4 - faltojaj> og(J[Z_1< og(J[Z_1 J[Z_43100 J[Z_43 100> > J[Z_130 > J[Z_13 J[Z_430 > J[Z_43

PXC1RJ[Z_ (J[Z_1)> PXC1RJ[Z_(J[Z_1)> PXC4RJ[Z_(J[Z_4)> PXC4RJ[Z_ (J[Z_4)> avalzar()> avalzar ()> } }

OW.  FBLFE[VOÖL Para ke prkskltk prbykftb jk socueafoöl sk ebhrö kltkljkr ke gulfoblacokltb y socueafoöl jk ul rbdbt skhuojbr jk eãlka. Ke joskñb sk fkltra kl ea gulfoblaeojaj jke rbdbt pujokra skhuor eas eãlkas fbl jogofuetaj, kstb ks prbjuftb jk ea dásofa ocpekckltafoöl jke föjohb. Fadk cklfoblar quk kstk ks bpkratovb kl ea socueafoöl, pkrb fbl aehb jk jogofuetaj kl ke rkfblbfocokltb jk eas eãlkas.

W. 

ALK]BV

Joahraca Ksqukcátofb 19 Wortuaeozafoöl Vkhuojbr jk Eãlka. Gukltk9 Prbpoa.

 

  Joahraca Ksqukcátofb 49 Ksqukca Tbdbt Vkhuojbr jk Eãlka Gukltk9 prbpoa.

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