Hala

lib/algorithm.md

@@ -1 +1,5 @@
-algorithm
+# Algorithm
+## Path finding and A*
+## Movment
+### General Algorithm of movment
+

lib/resources.md

@@ -0,0 +1,11 @@
+# Resources
+
+### Using L298N Dual H-Bridge to control of DC motors:
+https://dronebotworkshop.com/dc-motors-l298n-h-bridge/
+
+### Using Ultrasonic sensor:
+https://www.maxbotix.com/articles/how-ultrasonic-sensors-work.htm
+
+### A* Algorithm
+
+

lib/schematics/components.md

@@ -1 +1,22 @@
-components
+# Circuit and Schematics
+## 1. Circuit 
+
+
+## 2. Components
+- Arduino Uno.
+- L298N Dual H-bridge.
+- HC-SR04 Ultrasonic sensor.
+- 2 DC motors.
+- Battery 6v.
+- BreadBoard.
+- Wires.
+
+  - ### L298N Dual H-bridge
+
+
+
+  - ### HC-SR04 Ultrasonic senso
+    Ultrasonic sensors work by emitting sound waves at a frequency too high for humans to hear. then wait for the sound to be reflected back, calculating distance based on the     time required. 
+    calculated based on this formula: Distance = ½ T x C
+
+    T = Time and C = the speed of sound

src/full_workable_version_1/full_workable_version_1.ino

@@ -561,7 +561,7 @@ void right() {
   @param None.
   @return None.
 */
-void stop_robot() {
+void stopRobot() {
     if (test_arduino) pr_s("stop_robot"); ln();
     //Stop the motors
     digitalWrite(in1, LOW);
@@ -636,7 +636,7 @@ long calcDistance() {
   @param None.
   @return the value of J index .
 */
-int return_indexJ() {
+int returnIndexJ() {
     if (direction == 0) {
         return j - 1;
     }
@@ -654,7 +654,7 @@ int return_indexJ() {
   @param None.
   @return the value of i index .
 */
-int return_indexI() {
+int returnIndexI() {
     if (direction == 0 || direction == 2) {
         return i;
     }
@@ -789,8 +789,8 @@ boolean leftOpen() {
     }
 }
 void set_obstecal() {
-  int y = (map_size_rows - 1) - return_indexI();
-  int x = (map_size_cols - 1) - return_indexJ();
+  int y = (map_size_rows - 1) - returnIndexI();
+  int x = (map_size_cols - 1) - returnIndexJ();
   pr_s("x=");pr(x);pr_s("y="); pr(y); ln();
   ind[y][x] = OBST;
   pr_s("!! = "); pr(ind[y][x]); ln();
@@ -818,7 +818,7 @@ void loop() {
   }
   if (calcDistance() < 35) {
       calc_matrix_wave = 1; // we can recalc path
-      stop_robot();
+      stopRobot();
       clean_path();
 //      set_obstecal();
  int y = (map_size_rows - 1) - return_indexI();

src/movment_with_millis/movment_with_millis.ino

@@ -14,7 +14,7 @@ int in4 = 4;
 int trigPin = 11; // Trigger
 int echoPin = 10; // Echo
 long duration, cm;
-
+// 0 is up 
 // 1 is right
 // 2 is down
 // 3 is left