{"id":19943,"date":"2024-06-15T20:06:39","date_gmt":"2024-06-15T17:06:39","guid":{"rendered":"https:\/\/modelist-konstruktor.com\/ua\/?p=19943"},"modified":"2024-06-15T20:08:04","modified_gmt":"2024-06-15T17:08:04","slug":"chay-zavaryt-robot","status":"publish","type":"post","link":"https:\/\/modelist-konstruktor.com\/ua\/chay-zavaryt-robot","title":{"rendered":"\u0427\u0430\u0439 \u0437\u0430\u0432\u0430\u0440\u0438\u0442\u044c \u0440\u043e\u0431\u043e\u0442"},"content":{"rendered":"<p>\u0412\u0438 \u043a\u043e\u043b\u0438-\u043d\u0435\u0431\u0443\u0434\u044c \u043f\u0440\u043e\u0431\u0443\u0432\u0430\u043b\u0438 \u0437\u0430\u0432\u0430\u0440\u044e\u0432\u0430\u0442\u0438 \u0447\u0430\u0439, \u0430\u043b\u0435 \u0432\u0456\u043d \u0432\u0438\u0445\u043e\u0434\u0438\u0432 \u043d\u0430\u0434\u0442\u043e \u0441\u043b\u0430\u0431\u043a\u0438\u043c \u0447\u0438 \u0433\u0456\u0440\u043a\u0438\u043c? \u0417 \u0446\u0456\u0454\u044e \u043f\u0440\u043e\u0441\u0442\u043e\u044e \u0456 \u0446\u0456\u043a\u0430\u0432\u043e\u044e \u043f\u0440\u043e\u0435\u043a\u0442\u043d\u043e\u044e \u0456\u0434\u0435\u0454\u044e \u0432\u0438 \u0437\u043c\u043e\u0436\u0435\u0442\u0435 \u0441\u0442\u0432\u043e\u0440\u0438\u0442\u0438 \u043f\u0440\u0438\u0441\u0442\u0440\u0456\u0439, \u044f\u043a\u0438\u0439 \u0437\u0430\u043d\u0443\u0440\u044e\u0432\u0430\u0442\u0438\u043c\u0435 \u0447\u0430\u0439\u043d\u0438\u0439 \u043f\u0430\u043a\u0435\u0442\u0438\u043a \u0443 \u0432\u043e\u0434\u0443 \u0440\u0456\u0432\u043d\u043e \u043d\u0430 \u0442\u043e\u0439 \u0447\u0430\u0441, \u044f\u043a\u0438\u0439 \u0432\u0430\u043c \u043f\u043e\u0442\u0440\u0456\u0431\u043d\u043e. \u0412\u0430\u043c \u043f\u043e\u0442\u0440\u0456\u0431\u043d\u043e \u0431\u0443\u0434\u0435 \u043f\u0440\u043e\u0441\u0442\u043e \u043f\u0440\u0438\u043a\u0440\u0456\u043f\u0438\u0442\u0438 \u043f\u0430\u043a\u0435\u0442\u0438\u043a, \u043f\u043e\u0441\u0442\u0430\u0432\u0438\u0442\u0438 \u0447\u0430\u0448\u043a\u0443 \u0456 \u043f\u0440\u0438\u0441\u0442\u0440\u0456\u0439 \u0437\u0440\u043e\u0431\u0438\u0442\u044c \u0432\u0441\u044e \u0440\u043e\u0431\u043e\u0442\u0443 \u0437\u0430 \u0432\u0430\u0441!<\/p>\n<p style=\"text-align: center;\"><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"https:\/\/www.youtube.com\/embed\/KVLQrhufLu0?si=nN8tYbj0vs6P63fC\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n<h3>\u041d\u0435\u043e\u0431\u0445\u0456\u0434\u043d\u0456 \u043c\u0430\u0442\u0435\u0440\u0456\u0430\u043b\u0438 \u0442\u0430 \u0456\u043d\u0441\u0442\u0440\u0443\u043c\u0435\u043d\u0442\u0438<\/h3>\n<h4>\u041c\u0430\u0442\u0435\u0440\u0456\u0430\u043b\u0438:<\/h4>\n<ul>\n<li>\u0414\u0435\u0440\u0435\u0432\u043e \u0437\u0430\u0432\u0442\u043e\u0432\u0448\u043a\u0438 4 \u043c\u043c<\/li>\n<li>Arduino Uno<\/li>\n<li>\u0421\u0435\u0440\u0432\u043e (\u043d\u0430\u043f\u0440\u0438\u043a\u043b\u0430\u0434, SG90)<\/li>\n<li>\u0423\u043b\u044c\u0442\u0440\u0430\u0437\u0432\u0443\u043a\u043e\u0432\u0438\u0439 \u0434\u0430\u0442\u0447\u0438\u043a<\/li>\n<li>\u041f\u0440\u043e\u0432\u0456\u0434 \u0442\u0430 \u0441\u0442\u0440\u0456\u0447\u043a\u043e\u0432\u0456 \u043a\u0430\u0431\u0435\u043b\u0456 \u0434\u043b\u044f Arduino<\/li>\n<li>\u0406\u0437\u043e\u043b\u044f\u0446\u0456\u0439\u043d\u0430 \u0441\u0442\u0440\u0456\u0447\u043a\u0430<\/li>\n<li>\u0414\u0432\u043e\u0441\u0442\u043e\u0440\u043e\u043d\u043d\u0456\u0439 \u0441\u043a\u043e\u0442\u0447<\/li>\n<li>\u041f\u0440\u0438\u0449\u0456\u043f\u043a\u0430 (\u0430\u0431\u043e \u0456\u043d\u0448\u0438\u0439 \u043c\u0430\u043b\u0435\u043d\u044c\u043a\u0438\u0439 \u0437\u0430\u0442\u0438\u0441\u043a\u0430\u0447)<\/li>\n<li>\u0427\u0430\u0448\u043a\u0430<\/li>\n<\/ul>\n<h4>\u0406\u043d\u0441\u0442\u0440\u0443\u043c\u0435\u043d\u0442\u0438:<\/h4>\n<ul>\n<li>3D \u043f\u0440\u0438\u043d\u0442\u0435\u0440<\/li>\n<li>\u041b\u0430\u0437\u0435\u0440\u043d\u0438\u0439 \u0440\u0456\u0437\u0430\u043a \u0434\u043b\u044f \u0434\u0435\u0440\u0435\u0432\u0430<\/li>\n<li>\u041a\u043b\u0435\u0439\u043e\u0432\u0438\u0439 \u043f\u0456\u0441\u0442\u043e\u043b\u0435\u0442<\/li>\n<\/ul>\n<h3>\u041a\u0440\u043e\u043a 1: \u0412\u0438\u0440\u0456\u0437\u0430\u043d\u043d\u044f \u0434\u0435\u0440\u0435\u0432&#8217;\u044f\u043d\u043e\u0457 \u043e\u0441\u043d\u043e\u0432\u0438<\/h3>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-48310\" src=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/1-13.jpg\" sizes=\"auto, (max-width: 1673px) 100vw, 1673px\" srcset=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/1-13.jpg 1673w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/1-13-1536x1214.jpg 1536w\" alt=\"\u041a\u0440\u043e\u043a 1: \u0412\u0438\u0440\u0456\u0437\u0430\u043d\u043d\u044f \u0434\u0435\u0440\u0435\u0432'\u044f\u043d\u043e\u0457 \u043e\u0441\u043d\u043e\u0432\u0438\" width=\"1673\" height=\"1322\" \/><\/p>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-48311\" src=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/1-1-1.jpg\" sizes=\"auto, (max-width: 1999px) 100vw, 1999px\" srcset=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/1-1-1.jpg 1999w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/1-1-1-1536x876.jpg 1536w\" alt=\"\u041a\u0440\u043e\u043a 1: \u0412\u0438\u0440\u0456\u0437\u0430\u043d\u043d\u044f \u0434\u0435\u0440\u0435\u0432'\u044f\u043d\u043e\u0457 \u043e\u0441\u043d\u043e\u0432\u0438\" width=\"1999\" height=\"1140\" \/><\/p>\n<p>\u0414\u043b\u044f \u043f\u043e\u0447\u0430\u0442\u043a\u0443 \u043d\u0430\u043c \u043f\u043e\u0442\u0440\u0456\u0431\u043d\u043e \u043f\u0456\u0434\u0433\u043e\u0442\u0443\u0432\u0430\u0442\u0438 \u043e\u0441\u043d\u043e\u0432\u0443 \u043d\u0430\u0448\u043e\u0433\u043e \u043f\u0440\u0438\u0441\u0442\u0440\u043e\u044e. \u0414\u043b\u044f \u0446\u044c\u043e\u0433\u043e \u0432\u0438\u0440\u0456\u0436\u0442\u0435 \u0437 4 \u043c\u043c \u0434\u0435\u0440\u0435\u0432\u0430 \u0434\u0435\u0442\u0430\u043b\u0456 \u0437\u0430 \u043d\u0430\u0434\u0430\u043d\u0438\u043c \u0448\u0430\u0431\u043b\u043e\u043d\u043e\u043c \u0437\u0430 \u0434\u043e\u043f\u043e\u043c\u043e\u0433\u043e\u044e \u043b\u0430\u0437\u0435\u0440\u043d\u043e\u0433\u043e \u0440\u0456\u0437\u0430\u043a\u0430.<\/p>\n<h3>\u041a\u0440\u043e\u043a 2: \u0421\u043a\u043b\u0430\u0434\u0430\u043d\u043d\u044f \u0434\u0435\u0440\u0435\u0432&#8217;\u044f\u043d\u043e\u0457 \u043e\u0441\u043d\u043e\u0432\u0438<\/h3>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-48312\" src=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/2-13.jpg\" sizes=\"auto, (max-width: 1272px) 100vw, 1272px\" srcset=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/2-13.jpg 1272w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/2-13-1099x1536.jpg 1099w\" alt=\"\u041a\u0440\u043e\u043a 2: \u0421\u043a\u043b\u0430\u0434\u0430\u043d\u043d\u044f \u0434\u0435\u0440\u0435\u0432'\u044f\u043d\u043e\u0457 \u043e\u0441\u043d\u043e\u0432\u0438\" width=\"1272\" height=\"1778\" \/><\/p>\n<p>\u041f\u0456\u0441\u043b\u044f \u0432\u0438\u0440\u0456\u0437\u043a\u0438 \u0432\u0441\u0456\u0445 \u0434\u0435\u0440\u0435\u0432&#8217;\u044f\u043d\u0438\u0445 \u0434\u0435\u0442\u0430\u043b\u0435\u0439, \u043c\u0438 \u043f\u0440\u0438\u0441\u0442\u0443\u043f\u0430\u0454\u043c\u043e \u0434\u043e \u0437\u0431\u0438\u0440\u0430\u043d\u043d\u044f. \u0412\u0430\u043c \u0437\u043d\u0430\u0434\u043e\u0431\u043b\u044f\u0442\u044c\u0441\u044f:<\/p>\n<ul>\n<li>\u0406\u0437\u043e\u043b\u044f\u0446\u0456\u0439\u043d\u0430 \u0441\u0442\u0440\u0456\u0447\u043a\u0430<\/li>\n<li>\u0414\u0432\u043e\u0441\u0442\u043e\u0440\u043e\u043d\u043d\u0456\u0439 \u0441\u043a\u043e\u0442\u0447<\/li>\n<li>\u0413\u0430\u0440\u044f\u0447\u0438\u0439 \u043a\u043b\u0435\u0439<\/li>\n<li>\u0423\u043b\u044c\u0442\u0440\u0430\u0437\u0432\u0443\u043a\u043e\u0432\u0438\u0439 \u0434\u0430\u0442\u0447\u0438\u043a<\/li>\n<\/ul>\n<p>\u041f\u043e\u0447\u043d\u0456\u0442\u044c \u0456\u0437 \u043a\u0440\u0456\u043f\u043b\u0435\u043d\u043d\u044f \u0443\u043b\u044c\u0442\u0440\u0430\u0437\u0432\u0443\u043a\u043e\u0432\u043e\u0433\u043e \u0434\u0430\u0442\u0447\u0438\u043a\u0430 \u0434\u043e \u043f\u0435\u0440\u0435\u0434\u043d\u044c\u043e\u0457 \u043f\u0430\u043d\u0435\u043b\u0456, \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u044e\u0447\u0438 \u0433\u0430\u0440\u044f\u0447\u0438\u0439 \u043a\u043b\u0435\u0439 \u0434\u043b\u044f \u0444\u0456\u043a\u0441\u0430\u0446\u0456\u0457. \u041f\u043e\u0442\u0456\u043c \u0437\u0431\u0435\u0440\u0456\u0442\u044c \u043e\u0441\u043d\u043e\u0432\u0443, \u0437&#8217;\u0454\u0434\u043d\u0430\u0432\u0448\u0438 \u0434\u0432\u0456 \u0431\u0430\u0437\u043e\u0432\u0456 \u043f\u043b\u0430\u0441\u0442\u0438\u043d\u0438 \u0434\u0432\u043e\u0441\u0442\u043e\u0440\u043e\u043d\u043d\u044c\u043e\u0433\u043e \u0441\u043a\u043e\u0442\u0447\u0443. \u041f\u0440\u043e\u0434\u043e\u0432\u0436\u0443\u0439\u0442\u0435 \u0441\u043a\u043b\u0430\u0434\u0430\u043d\u043d\u044f, \u043f\u0440\u0438\u043a\u0440\u0456\u043f\u043b\u044e\u044e\u0447\u0438 \u0431\u0456\u0447\u043d\u0456 \u0442\u0430 \u0432\u0435\u0440\u0445\u043d\u0456 \u043f\u0430\u043d\u0435\u043b\u0456, \u0441\u0442\u0432\u043e\u0440\u044e\u044e\u0447\u0438 \u043a\u043e\u0440\u043e\u0431\u043a\u0443.<\/p>\n<h3>\u041a\u0440\u043e\u043a 3: \u0414\u0440\u0443\u043a \u043a\u043e\u0440\u043f\u0443\u0441\u0443 \u0434\u043b\u044f Arduino<\/h3>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-48313\" src=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/3-12.jpg\" sizes=\"auto, (max-width: 1555px) 100vw, 1555px\" srcset=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/3-12.jpg 1555w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/3-12-1463x1536.jpg 1463w\" alt=\"\u041a\u0440\u043e\u043a 3: \u0414\u0440\u0443\u043a \u043a\u043e\u0440\u043f\u0443\u0441\u0443 \u0434\u043b\u044f Arduino\" width=\"1555\" height=\"1633\" \/><\/p>\n<p>\u0414\u043b\u044f \u0437\u0430\u0445\u0438\u0441\u0442\u0443 \u0442\u0430 \u043c\u043e\u043d\u0442\u0430\u0436\u0443 Arduino \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0439\u0442\u0435 3D \u043f\u0440\u0438\u043d\u0442\u0435\u0440 \u0434\u043b\u044f \u0434\u0440\u0443\u043a\u0443 \u043a\u043e\u0440\u043f\u0443\u0441\u0443. \u0417\u0430\u0432\u0430\u043d\u0442\u0430\u0436\u0442\u0435 \u0442\u0430 \u0440\u043e\u0437\u0434\u0440\u0443\u043a\u0443\u0439\u0442\u0435 \u0444\u0430\u0439\u043b\u0438 .stl \u0434\u043b\u044f \u0432\u0435\u0440\u0445\u043d\u044c\u043e\u0457 \u0442\u0430 \u043d\u0438\u0436\u043d\u044c\u043e\u0457 \u0447\u0430\u0441\u0442\u0438\u043d\u0438 \u043a\u043e\u0440\u043f\u0443\u0441\u0443. \u0417\u0431\u0435\u0440\u0456\u0442\u044c \u043a\u043e\u0440\u043f\u0443\u0441, \u043f\u043e\u043c\u0456\u0441\u0442\u0438\u0432\u0448\u0438 \u0432\u0441\u0435\u0440\u0435\u0434\u0438\u043d\u0443 Arduino \u0456 \u0437\u0430\u043a\u0440\u0438\u0432\u0448\u0438 \u0439\u043e\u0433\u043e \u0432\u0435\u0440\u0445\u043d\u044c\u043e\u044e \u0447\u0430\u0441\u0442\u0438\u043d\u043e\u044e.<\/p>\n<h3>\u041a\u0440\u043e\u043a 4: \u041f\u0456\u0434\u043a\u043b\u044e\u0447\u0435\u043d\u043d\u044f \u0435\u043b\u0435\u043a\u0442\u0440\u043e\u043d\u0456\u043a\u0438<\/h3>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-48314\" src=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/4-11.jpg\" sizes=\"auto, (max-width: 1822px) 100vw, 1822px\" srcset=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/4-11.jpg 1822w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/4-11-1536x1184.jpg 1536w\" alt=\"\u041a\u0440\u043e\u043a 4: \u041f\u0456\u0434\u043a\u043b\u044e\u0447\u0435\u043d\u043d\u044f \u0435\u043b\u0435\u043a\u0442\u0440\u043e\u043d\u0456\u043a\u0438\" width=\"1822\" height=\"1405\" \/><\/p>\n<p>\u0422\u0435\u043f\u0435\u0440 \u0434\u0430\u0432\u0430\u0439\u0442\u0435 \u043e\u0436\u0438\u0432\u0438\u043c\u043e \u043d\u0430\u0448 \u043f\u0440\u0438\u0441\u0442\u0440\u0456\u0439. \u0412\u0430\u043c \u0437\u043d\u0430\u0434\u043e\u0431\u043b\u044f\u0442\u044c\u0441\u044f:<\/p>\n<ul>\n<li>Arduino Uno \u0443 \u043a\u043e\u0440\u043f\u0443\u0441\u0456<\/li>\n<li>\u0423\u043b\u044c\u0442\u0440\u0430\u0437\u0432\u0443\u043a\u043e\u0432\u0438\u0439 \u0434\u0430\u0442\u0447\u0438\u043a<\/li>\n<li>\u0421\u0435\u0440\u0432\u043e<\/li>\n<li>\u041f\u0440\u043e\u0432\u0456\u0434 \u0442\u0430 \u0441\u0442\u0440\u0456\u0447\u043a\u043e\u0432\u0456 \u043a\u0430\u0431\u0435\u043b\u0456 \u0434\u043b\u044f Arduino<\/li>\n<li>\u0414\u0432\u043e\u0441\u0442\u043e\u0440\u043e\u043d\u043d\u0456\u0439 \u0441\u043a\u043e\u0442\u0447 \u0430\u0431\u043e \u0433\u0430\u0440\u044f\u0447\u0438\u0439 \u043a\u043b\u0435\u0439<\/li>\n<\/ul>\n<p>\u041f\u0456\u0434\u043a\u043b\u044e\u0447\u0456\u0442\u044c \u0434\u0430\u0442\u0447\u0438\u043a \u0442\u0430 \u0441\u0435\u0440\u0432\u043e \u0434\u043e Arduino \u0437\u0430 \u0441\u0445\u0435\u043c\u043e\u044e, \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u044e\u0447\u0438 GND, VCC, TRIG, ECHO \u0442\u0430 \u0456\u043d\u0448\u0456 \u043f\u043e\u0440\u0442\u0438. \u0417\u0430\u0432\u0430\u043d\u0442\u0430\u0436\u0443\u0439\u0442\u0435 \u043a\u043e\u0434, \u0449\u043e\u0431 \u0437\u043c\u0443\u0441\u0438\u0442\u0438 \u043f\u0440\u0438\u0441\u0442\u0440\u0456\u0439 \u043f\u0440\u0430\u0446\u044e\u0432\u0430\u0442\u0438.<\/p>\n<p><strong>\u041a\u043e\u0434 \u0434\u043b\u044f Arduino<\/strong><\/p>\n<pre class=\"ql-syntax\" spellcheck=\"false\">#include &lt;Servo.h&gt;\r\n\r\n\/\/ pins\r\nconst int trigPin = 2; \/\/ trig pin for ultrasonic sensor\r\nconst int echoPin = 3; \/\/ echo pin for ultrasonic sensor\r\nconst int servoPin = 4; \/\/ pin for writing to servo\r\n\r\n\/\/ distance\r\nfloat minCheckDistance = 2.0; \/\/ min check distance in CM\r\nfloat maxCheckDistance = 8.0; \/\/ max check distance in CM\r\nfloat echoDuration, distance;\r\nfloat averageDistance[10] = {0};\r\n\r\n\/\/ servo\r\nServo serv;\r\nconst int minPos = 75; \/\/ servo maximum position while dipping\r\nconst int maxPos = 100; \/\/ servo minimum position while dipping\r\nconst int restingPos = 130; \/\/ servo resting position when not dipping\r\nint targetPos = restingPos;\r\nint pos = restingPos;\r\n\r\n\/\/ time\r\nunsigned long time = millis();\r\nunsigned long startTime = time;\r\nunsigned long dipDuration = 60000; \/\/ duration of comenced dipping in miliseconds\r\nbool dipping = false;\r\nbool reset = false;\r\n\r\nvoid setup() {\r\n\u00a0 \/\/ enbable pins\r\n\u00a0 pinMode(trigPin, OUTPUT);\r\n\u00a0 pinMode(echoPin, INPUT);\r\n\u00a0 serv.attach(servoPin);\r\n\u00a0 serv.write(pos);\r\n\u00a0 delay(300);\r\n}\r\n\r\nvoid loop() {\r\n\u00a0 time = millis();\r\n\r\n\u00a0 \/\/ insert a distance into the array\r\n\u00a0 distance = checkDistance();\r\n\u00a0 for(int i=0; i &lt; 9; i++){\r\n\u00a0\u00a0\u00a0 averageDistance[i] = averageDistance[i+1];\r\n\u00a0 }\r\n\u00a0 averageDistance[9] = distance;\r\n\r\n\u00a0 \/\/ handle the setting down cup and removing it again\r\n\u00a0 if(checkAverageDistance()){\r\n\u00a0\u00a0\u00a0 if(time &gt;= startTime+dipDuration &amp;&amp; dipping){\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 dipping = false;\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 reset = true;\r\n\u00a0\u00a0\u00a0 }else if(!dipping &amp;&amp; !reset){\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 startTime = time;\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 dipping = true;\r\n\u00a0\u00a0\u00a0 }\r\n\u00a0 }else if(!checkAverageDistance()){\r\n\u00a0\u00a0\u00a0 dipping = false;\r\n\u00a0\u00a0\u00a0 reset = false;\r\n\u00a0 }\r\n\r\n\u00a0 \/\/ handle servo\r\n\u00a0 if(!dipping){\r\n\u00a0\u00a0\u00a0 targetPos = restingPos;\r\n\u00a0 }else{\r\n\u00a0\u00a0\u00a0 if (pos &gt;= maxPos){\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 targetPos = minPos;\r\n\u00a0\u00a0\u00a0 }else if(pos &lt;= minPos){\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 targetPos = maxPos;\r\n\u00a0\u00a0\u00a0 }\r\n\u00a0 }\r\n\r\n\u00a0 moveServo();\r\n\r\n\u00a0 delay(50);\r\n}\r\n\r\nvoid moveServo(){\r\n\u00a0\u00a0\u00a0 if (pos &lt; targetPos){\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 pos += 1;\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 serv.write(pos);\r\n\u00a0\u00a0\u00a0 }else if (pos &gt; targetPos){\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 pos -= 1;\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 serv.write(pos);\r\n\u00a0\u00a0\u00a0 }\r\n}\r\n\r\nfloat checkAverageDistance(){\r\n\u00a0 \/\/ check if the average distance in the last 10 echoes is still around our target (3 echoes or more)\r\n\u00a0 int avg = 0;\r\n\u00a0 for (byte i=0; i &lt; 10; i++){\r\n\u00a0\u00a0\u00a0 if (averageDistance[i] &lt;= maxCheckDistance &amp;&amp; averageDistance[i] &gt;= minCheckDistance){\r\n\u00a0\u00a0\u00a0\u00a0\u00a0 avg++;\r\n\u00a0\u00a0\u00a0 }\r\n\u00a0 }\r\n\u00a0 return avg &gt;= 3;\r\n}\r\n\r\nfloat checkDistance(){\r\n\u00a0 \/\/ pulse the signal so we get echoes\r\n\u00a0 digitalWrite(trigPin, LOW);\r\n\u00a0 delayMicroseconds(2);\r\n\u00a0 digitalWrite(trigPin, HIGH);\r\n\u00a0 delayMicroseconds(10);\r\n\u00a0 digitalWrite(trigPin, LOW);\r\n\r\n\u00a0 echoDuration = pulseIn(echoPin, HIGH);\r\n\u00a0 return (echoDuration * 0.0343) \/ 2;\r\n}<\/pre>\n<h3>\u041a\u0440\u043e\u043a 5: \u0424\u0456\u043d\u0430\u043b\u044c\u043d\u0430 \u0437\u0431\u0456\u0440\u043a\u0430<\/h3>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-48315\" src=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/5-10-scaled.jpg\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\" srcset=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/5-10-scaled.jpg 2560w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/5-10-1536x1536.jpg 1536w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/5-10-2048x2048.jpg 2048w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/5-10-150x150.jpg 150w\" alt=\"\u041a\u0440\u043e\u043a 5: \u0424\u0456\u043d\u0430\u043b\u044c\u043d\u0430 \u0437\u0431\u0456\u0440\u043a\u0430\" width=\"2560\" height=\"2560\" \/><\/p>\n<p>\u0414\u043b\u044f \u043e\u0441\u0442\u0430\u043d\u043d\u044c\u043e\u0433\u043e \u043a\u0440\u043e\u043a\u0443 \u043d\u0430\u043c \u043f\u043e\u0442\u0440\u0456\u0431\u043d\u043e \u043f\u0440\u0438\u043a\u0440\u0456\u043f\u0438\u0442\u0438 \u043f\u0440\u0438\u0449\u0456\u043f\u043a\u0443 \u0434\u043b\u044f \u0447\u0430\u0439\u043d\u043e\u0433\u043e \u043f\u0430\u043a\u0435\u0442\u0438\u043a\u0430. \u0412\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0439\u0442\u0435 \u0434\u0432\u043e\u0441\u0442\u043e\u0440\u043e\u043d\u043d\u0456\u0439 \u0441\u043a\u043e\u0442\u0447 \u0430\u0431\u043e \u0433\u0430\u0440\u044f\u0447\u0438\u0439 \u043a\u043b\u0435\u0439 \u0434\u043b\u044f \u043a\u0440\u0456\u043f\u043b\u0435\u043d\u043d\u044f \u043f\u0440\u0438\u0449\u0456\u043f\u043a\u0438 \u0434\u043e \u043a\u0456\u043d\u0446\u044f \u0434\u0435\u0440\u0435\u0432&#8217;\u044f\u043d\u043e\u0433\u043e \u0432\u0430\u0436\u0435\u043b\u044f. \u041f\u043e\u0442\u0456\u043c \u0437&#8217;\u0454\u0434\u043d\u0430\u0439\u0442\u0435 \u0432\u0430\u0436\u0456\u043b\u044c \u0456\u0437 \u0441\u0435\u0440\u0432\u043e, \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u044e\u0447\u0438 \u0441\u043a\u043e\u0442\u0447 \u0430\u0431\u043e \u043a\u043b\u0435\u0439.<\/p>\n<h3>\u041a\u0440\u043e\u043a 6: \u0424\u0456\u043d\u0430\u043b\u044c\u043d\u0435 \u0442\u0435\u0441\u0442\u0443\u0432\u0430\u043d\u043d\u044f<\/h3>\n<p style=\"text-align: center;\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-48316\" src=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/6-10.jpg\" sizes=\"auto, (max-width: 1440px) 100vw, 1440px\" srcset=\"https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/6-10.jpg 1440w, https:\/\/modelist-konstruktor.com\/wp-content\/uploads\/2024\/06\/6-10-150x150.jpg 150w\" alt=\"\u041a\u0440\u043e\u043a 6: \u0424\u0456\u043d\u0430\u043b\u044c\u043d\u0435 \u0442\u0435\u0441\u0442\u0443\u0432\u0430\u043d\u043d\u044f\" width=\"1440\" height=\"1440\" \/><\/p>\n<p>\u0422\u0435\u043f\u0435\u0440 \u043d\u0430\u0441\u0442\u0430\u0432 \u0447\u0430\u0441 \u043f\u0440\u043e\u0442\u0435\u0441\u0442\u0443\u0432\u0430\u0442\u0438 \u0432\u0430\u0448\u0443 \u0447\u0430\u0439\u043d\u0443 \u043c\u0430\u0448\u0438\u043d\u043a\u0443. \u041f\u0456\u0434\u043a\u043b\u044e\u0447\u0456\u0442\u044c Arduino \u0434\u043e \u0434\u0436\u0435\u0440\u0435\u043b\u0430 \u0436\u0438\u0432\u043b\u0435\u043d\u043d\u044f, \u0437\u0430\u0444\u0456\u043a\u0441\u0443\u0439\u0442\u0435 \u0447\u0430\u0439\u043d\u0438\u0439 \u043f\u0430\u043a\u0435\u0442\u0438\u043a \u043f\u0440\u0438\u0449\u0456\u043f\u043a\u043e\u044e \u0442\u0430 \u043f\u043e\u0441\u0442\u0430\u0432\u0442\u0435 \u0447\u0430\u0448\u043a\u0443 \u0437 \u0433\u0430\u0440\u044f\u0447\u043e\u044e \u0432\u043e\u0434\u043e\u044e \u043d\u0430 \u043f\u0440\u0438\u0441\u0442\u0440\u0456\u0439. \u041d\u0430\u0441\u043e\u043b\u043e\u0434\u0436\u0443\u0439\u0442\u0435\u0441\u044c \u0456\u0434\u0435\u0430\u043b\u044c\u043d\u043e \u0437\u0430\u0432\u0430\u0440\u0435\u043d\u0438\u043c \u0447\u0430\u0454\u043c!<\/p>\n<h2>\u041f\u043e\u0448\u0438\u0440\u0435\u043d\u0456 \u0437\u0430\u043f\u0438\u0442\u0430\u043d\u043d\u044f<\/h2>\n<p><strong>\u0427\u0438 \u043c\u043e\u0436\u043d\u0430 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0432\u0430\u0442\u0438 \u0456\u043d\u0448\u0438\u0439 \u0442\u0438\u043f \u0434\u0435\u0440\u0435\u0432\u0430?<\/strong> \u0422\u0430\u043a, \u0430\u043b\u0435 \u043f\u0435\u0440\u0435\u043a\u043e\u043d\u0430\u0439\u0442\u0435\u0441\u044f, \u0449\u043e \u0439\u043e\u0433\u043e \u0442\u043e\u0432\u0449\u0438\u043d\u0430 \u0441\u0442\u0430\u043d\u043e\u0432\u0438\u0442\u044c \u0431\u043b\u0438\u0437\u044c\u043a\u043e 4 \u043c\u043c, \u0449\u043e\u0431 \u0443\u0441\u0456 \u0434\u0435\u0442\u0430\u043b\u0456 \u0434\u043e\u0431\u0440\u0435 \u043f\u0456\u0434\u0445\u043e\u0434\u0438\u043b\u0438 \u043e\u0434\u043d\u0430 \u0434\u043e \u043e\u0434\u043d\u043e\u0457.<\/p>\n<p><strong>\u042f\u043a\u0438\u0439 \u0434\u0430\u0442\u0447\u0438\u043a \u043d\u0430\u0439\u043a\u0440\u0430\u0449\u0435 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0432\u0430\u0442\u0438?<\/strong> \u041c\u0438 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0432\u0430\u043b\u0438 \u0443\u043b\u044c\u0442\u0440\u0430\u0437\u0432\u0443\u043a\u043e\u0432\u0438\u0439 \u0434\u0430\u0442\u0447\u0438\u043a, \u0430\u043b\u0435 \u043c\u043e\u0436\u043d\u0430 \u0441\u043f\u0440\u043e\u0431\u0443\u0432\u0430\u0442\u0438 \u0456\u043d\u0448\u0456 \u0432\u0438\u0434\u0438 \u0434\u0430\u0442\u0447\u0438\u043a\u0456\u0432, \u044f\u043a\u0449\u043e \u0432\u0438 \u0432\u043f\u0435\u0432\u043d\u0435\u043d\u0456 \u0432 \u0457\u0445 \u0442\u043e\u0447\u043d\u043e\u0441\u0442\u0456.<\/p>\n<p><strong>\u0427\u0438 \u043c\u043e\u0436\u0443 \u044f \u043d\u0430\u043b\u0430\u0448\u0442\u0443\u0432\u0430\u0442\u0438 \u0442\u0440\u0438\u0432\u0430\u043b\u0456\u0441\u0442\u044c \u0456 \u0433\u043b\u0438\u0431\u0438\u043d\u0443 \u0437\u0430\u043d\u0443\u0440\u0435\u043d\u043d\u044f \u0447\u0430\u0439\u043d\u043e\u0433\u043e \u043f\u0430\u043a\u0435\u0442\u0438\u043a\u0430?<\/strong> \u0422\u0430\u043a, \u0443 \u043a\u043e\u0434\u0456 \u0432\u0438 \u043c\u043e\u0436\u0435\u0442\u0435 \u0437\u043c\u0456\u043d\u0438\u0442\u0438 \u0437\u043d\u0430\u0447\u0435\u043d\u043d\u044f minPos, maxPos, dipDuration \u0442\u0430 restingPos \u043f\u0456\u0434 \u0441\u0432\u043e\u0457 \u043f\u0435\u0440\u0435\u0432\u0430\u0433\u0438.<\/p>\n<p><strong>\u0427\u0438 \u043f\u043e\u0442\u0440\u0456\u0431\u043d\u043e \u043c\u0435\u043d\u0456 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0432\u0430\u0442\u0438 3D \u043f\u0440\u0438\u043d\u0442\u0435\u0440?<\/strong> 3D \u043f\u0440\u0438\u043d\u0442\u0435\u0440 \u043f\u043e\u043b\u0435\u0433\u0448\u0443\u0454 \u0441\u0442\u0432\u043e\u0440\u0435\u043d\u043d\u044f \u043a\u043e\u0440\u043f\u0443\u0441\u0443, \u0430\u043b\u0435 \u0432\u0438 \u043c\u043e\u0436\u0435\u0442\u0435 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0432\u0430\u0442\u0438 \u0456\u043d\u0448\u0456 \u043c\u0435\u0442\u043e\u0434\u0438, \u044f\u043a\u0449\u043e \u0432\u0438 \u043d\u0435 \u043c\u0430\u0454\u0442\u0435 \u0434\u043e\u0441\u0442\u0443\u043f\u0443 \u0434\u043e \u043f\u0440\u0438\u043d\u0442\u0435\u0440\u0430.<\/p>\n<p>\u0421\u043f\u043e\u0434\u0456\u0432\u0430\u044e\u0441\u044f, \u0432\u0430\u043c \u0441\u043f\u043e\u0434\u043e\u0431\u0430\u0432\u0441\u044f \u0446\u0435\u0439 \u043f\u0440\u043e\u0435\u043a\u0442 \u0456 \u0432\u0438 \u0431\u0443\u0434\u0435\u0442\u0435 \u043d\u0430\u0441\u043e\u043b\u043e\u0434\u0436\u0443\u0432\u0430\u0442\u0438\u0441\u044f \u0456\u0434\u0435\u0430\u043b\u044c\u043d\u0438\u043c \u0447\u0430\u0454\u043c \u0449\u043e\u0434\u043d\u044f!<\/p>\n<p style=\"text-align: right;\"><strong>\u0420\u043e\u0441\u0443\u043a\u0441<\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u0412\u0438 \u043a\u043e\u043b\u0438-\u043d\u0435\u0431\u0443\u0434\u044c \u043f\u0440\u043e\u0431\u0443\u0432\u0430\u043b\u0438 \u0437\u0430\u0432\u0430\u0440\u044e\u0432\u0430\u0442\u0438 \u0447\u0430\u0439, \u0430\u043b\u0435 \u0432\u0456\u043d \u0432\u0438\u0445\u043e\u0434\u0438\u0432 \u043d\u0430\u0434\u0442\u043e \u0441\u043b\u0430\u0431\u043a\u0438\u043c \u0447\u0438 \u0433\u0456\u0440\u043a\u0438\u043c? \u0417 \u0446\u0456\u0454\u044e \u043f\u0440\u043e\u0441\u0442\u043e\u044e \u0456 \u0446\u0456\u043a\u0430\u0432\u043e\u044e \u043f\u0440\u043e\u0435\u043a\u0442\u043d\u043e\u044e \u0456\u0434\u0435\u0454\u044e \u0432\u0438 \u0437\u043c\u043e\u0436\u0435\u0442\u0435 \u0441\u0442\u0432\u043e\u0440\u0438\u0442\u0438 \u043f\u0440\u0438\u0441\u0442\u0440\u0456\u0439, \u044f\u043a\u0438\u0439 \u0437\u0430\u043d\u0443\u0440\u044e\u0432\u0430\u0442\u0438\u043c\u0435 \u0447\u0430\u0439\u043d\u0438\u0439 \u043f\u0430\u043a\u0435\u0442\u0438\u043a \u0443 \u0432\u043e\u0434\u0443 \u0440\u0456\u0432\u043d\u043e \u043d\u0430 \u0442\u043e\u0439 \u0447\u0430\u0441, \u044f\u043a\u0438\u0439 \u0432\u0430\u043c \u043f\u043e\u0442\u0440\u0456\u0431\u043d\u043e. \u0412\u0430\u043c \u043f\u043e\u0442\u0440\u0456\u0431\u043d\u043e \u0431\u0443\u0434\u0435 \u043f\u0440\u043e\u0441\u0442\u043e \u043f\u0440\u0438\u043a\u0440\u0456\u043f\u0438\u0442\u0438 \u043f\u0430\u043a\u0435\u0442\u0438\u043a, \u043f\u043e\u0441\u0442\u0430\u0432\u0438\u0442\u0438 \u0447\u0430\u0448\u043a\u0443 \u0456 \u043f\u0440\u0438\u0441\u0442\u0440\u0456\u0439 \u0437\u0440\u043e\u0431\u0438\u0442\u044c \u0432\u0441\u044e \u0440\u043e\u0431\u043e\u0442\u0443 \u0437\u0430 \u0432\u0430\u0441! \u041d\u0435\u043e\u0431\u0445\u0456\u0434\u043d\u0456 \u043c\u0430\u0442\u0435\u0440\u0456\u0430\u043b\u0438 \u0442\u0430 \u0456\u043d\u0441\u0442\u0440\u0443\u043c\u0435\u043d\u0442\u0438 <a class=\"read-more-link\" href=\"https:\/\/modelist-konstruktor.com\/ua\/chay-zavaryt-robot\">\u0427\u0438\u0442\u0430\u0442\u0438 \u0434\u0430\u043b\u0456&#8230;<\/a><\/p>\n","protected":false},"author":1,"featured_media":19944,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"categories":[17],"tags":[],"class_list":["post-19943","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-prystroyi"],"aioseo_notices":[],"aioseo_head":"\n\t\t\n\t<meta name=\"description\" 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\u043c\u0430\u0442\u0435\u0440\u0456\u0430\u043b\u0438 \u0442\u0430 \u0456\u043d\u0441\u0442\u0440\u0443\u043c\u0435\u043d\u0442\u0438\" \/>\n\t\t<meta property=\"og:url\" content=\"https:\/\/modelist-konstruktor.com\/ua\/chay-zavaryt-robot\" \/>\n\t\t<meta property=\"article:published_time\" content=\"2024-06-15T17:06:39+00:00\" \/>\n\t\t<meta property=\"article:modified_time\" content=\"2024-06-15T17:08:04+00:00\" \/>\n\t\t<meta name=\"twitter:card\" content=\"summary\" \/>\n\t\t<meta name=\"twitter:title\" content=\"\u0427\u0430\u0439 \u0437\u0430\u0432\u0430\u0440\u0438\u0442\u044c \u0440\u043e\u0431\u043e\u0442 | \u041c\u043e\u0434\u0435\u043b\u0456\u0441\u0442-\u043a\u043e\u043d\u0441\u0442\u0440\u0443\u043a\u0442\u043e\u0440\" \/>\n\t\t<meta name=\"twitter:description\" content=\"\u0412\u0438 \u043a\u043e\u043b\u0438-\u043d\u0435\u0431\u0443\u0434\u044c \u043f\u0440\u043e\u0431\u0443\u0432\u0430\u043b\u0438 \u0437\u0430\u0432\u0430\u0440\u044e\u0432\u0430\u0442\u0438 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