{"id":28931,"date":"2026-05-12T16:28:02","date_gmt":"2026-05-12T16:28:02","guid":{"rendered":"https:\/\/retotech.fundacionendesa.org\/multisite\/?p=28931"},"modified":"2026-05-12T16:47:50","modified_gmt":"2026-05-12T16:47:50","slug":"4-apartat-programacio","status":"publish","type":"post","link":"https:\/\/retotech.fundacionendesa.org\/multisite\/2026\/05\/12\/4-apartat-programacio\/","title":{"rendered":"PROJECTE TASU – 4. Programaci\u00f3"},"content":{"rendered":"\n

4.1. Estructura del codi<\/strong><\/h3>\n\n\n\n

Aquest codi:<\/p>\n\n\n\n

    \n
  1. Llegeix dist\u00e0ncia del sensor esquerre i dret<\/li>\n\n\n\n
  2. Determina quin sensor detecta l\u2019obstacle m\u00e9s proper<\/li>\n\n\n\n
  3. Mou el servo cap a l\u2019angle corresponent<\/li>\n\n\n\n
  4. Calcula un angle interpolat si vols m\u00e9s precisi\u00f3<\/li>\n<\/ol>\n\n\n\n

    A la plataforma bitbloq, el codi associat en forma de blocs seria el seg\u00fcent:<\/p>\n\n\n\n

    4.2. Desenvolupament (amb bitbloq Apps)<\/strong><\/h3>\n\n\n\n

    Secci\u00f3 de definici\u00f3 de variables:<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    Secci\u00f3 setup:<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    Secci\u00f3 loop:<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    4.3. Desenvolupament (en C++)<\/strong><\/h3>\n\n\n\n

    El codi, en C++, seria el seg\u00fcent:<\/p>\n\n\n\n

    \/\/   Llibreries incloses<\/p>\n\n\n\n

    #include<\/strong> <<\/strong>BitbloqUS.h><\/strong><\/p>\n\n\n\n

    #include<\/strong> <<\/strong>Servo.h><\/strong><\/p>\n\n\n\n

    #include<\/strong> <<\/strong>BitbloqSoftwareSerial.h><\/strong><\/p>\n\n\n\n

    \/\/   Variables i funcions<\/p>\n\n\n\n

    uint8_t ledL = 13;<\/p>\n\n\n\n

    uint8_t ledC = 12;<\/p>\n\n\n\n

    uint8_t ledR = 11;<\/p>\n\n\n\n

    US ultrasonidosL(7, 7);<\/p>\n\n\n\n

    US ultrasonidosC(6, 6);<\/p>\n\n\n\n

    US ultrasonidosR(5, 5);<\/p>\n\n\n\n

    Servo servo;<\/p>\n\n\n\n

    bqSoftwareSerial board_bluetooth(0, 1, 115200);<\/p>\n\n\n\n

    float<\/strong> distanciaL = 0;<\/p>\n\n\n\n

    float<\/strong> distanciaC = 0;<\/p>\n\n\n\n

    float<\/strong> distanciaR = 0;<\/p>\n\n\n\n

    float<\/strong> angle = 90;<\/p>\n\n\n\n

    \/\/   Setup<\/p>\n\n\n\n

    void<\/strong> setup() {<\/p>\n\n\n\n

        pinMode(ledL, OUTPUT);<\/p>\n\n\n\n

        pinMode(ledC, OUTPUT);<\/p>\n\n\n\n

        pinMode(ledR, OUTPUT);<\/p>\n\n\n\n

        servo.attach(3);<\/p>\n\n\n\n

        board_bluetooth.begin(115200);<\/p>\n\n\n\n

        servo.write(angle);<\/p>\n\n\n\n

        board_bluetooth.println(angle);<\/p>\n\n\n\n

    }<\/p>\n\n\n\n

    \/\/   Loop<\/p>\n\n\n\n

    void<\/strong> loop() {<\/p>\n\n\n\n

        distanciaL = ultrasonidosL.read();<\/p>\n\n\n\n

        distanciaC = ultrasonidosC.read();<\/p>\n\n\n\n

        distanciaR = ultrasonidosR.read();<\/p>\n\n\n\n

        if<\/strong> (distanciaL == 0) {<\/p>\n\n\n\n

            distanciaL = 999;<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        if<\/strong> (distanciaC == 0) {<\/p>\n\n\n\n

            distanciaC = 999;<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        if<\/strong> (distanciaR == 0) {<\/p>\n\n\n\n

            distanciaR = 999;<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        if<\/strong> (((distanciaL < distanciaC) && (distanciaL <= distanciaR))) {<\/p>\n\n\n\n

            angle = 45;<\/p>\n\n\n\n

            digitalWrite(ledL, HIGH);<\/p>\n\n\n\n

            digitalWrite(ledC, LOW);<\/p>\n\n\n\n

            digitalWrite(ledR, LOW);<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        else<\/strong> if<\/strong> (((distanciaC >= distanciaL) && (distanciaL <= distanciaR))) {<\/p>\n\n\n\n

            angle = 67.5;<\/p>\n\n\n\n

            digitalWrite(ledL, HIGH);<\/p>\n\n\n\n

            digitalWrite(ledC, HIGH);<\/p>\n\n\n\n

            digitalWrite(ledR, LOW);<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        else<\/strong> if<\/strong> (((distanciaC >= distanciaL) && (distanciaC <= distanciaR))) {<\/p>\n\n\n\n

            angle = 90;<\/p>\n\n\n\n

            digitalWrite(ledC, HIGH);<\/p>\n\n\n\n

            digitalWrite(ledR, LOW);<\/p>\n\n\n\n

            digitalWrite(ledL, LOW);<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        else<\/strong> if<\/strong> (((distanciaC >= distanciaL) && (distanciaC > distanciaR))) {<\/p>\n\n\n\n

            angle = 112.5;<\/p>\n\n\n\n

            digitalWrite(ledC, HIGH);<\/p>\n\n\n\n

            digitalWrite(ledR, HIGH);<\/p>\n\n\n\n

            digitalWrite(ledL, LOW);<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        else<\/strong> if<\/strong> (((distanciaL >= distanciaR) && (distanciaC > distanciaR))) {<\/p>\n\n\n\n

            angle = 135;<\/p>\n\n\n\n

            digitalWrite(ledR, HIGH);<\/p>\n\n\n\n

            digitalWrite(ledC, LOW);<\/p>\n\n\n\n

            digitalWrite(ledL, LOW);<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        else<\/strong> {<\/p>\n\n\n\n

            angle = 90;<\/p>\n\n\n\n

            digitalWrite(ledL, LOW);<\/p>\n\n\n\n

            digitalWrite(ledC, LOW);<\/p>\n\n\n\n

            digitalWrite(ledR, LOW);<\/p>\n\n\n\n

        }<\/p>\n\n\n\n

        board_bluetooth.println(angle);<\/p>\n\n\n\n

        delay(20);<\/p>\n\n\n\n

    }<\/p>\n","protected":false},"excerpt":{"rendered":"

    4.1. Estructura del codi Aquest codi: A la plataforma bitbloq, el codi associat en forma de blocs seria el seg\u00fcent:<\/p>\n","protected":false},"author":6283,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[],"class_list":["post-28931","post","type-post","status-publish","format-standard","hentry","category-blog-retotech"],"_links":{"self":[{"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/posts\/28931"}],"collection":[{"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/users\/6283"}],"replies":[{"embeddable":true,"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/comments?post=28931"}],"version-history":[{"count":4,"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/posts\/28931\/revisions"}],"predecessor-version":[{"id":28985,"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/posts\/28931\/revisions\/28985"}],"wp:attachment":[{"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/media?parent=28931"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/categories?post=28931"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/retotech.fundacionendesa.org\/multisite\/wp-json\/wp\/v2\/tags?post=28931"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}