รายงานวิจัยการพัฒนาเด็กไทยด้านเทคโนโลยีหุ่นยนต์

motors.setM1rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 1 À¡ÿπµ“¡‡¢Á¡π“Ã°î “
motors.setM1speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑’Ë 1 À¡πÿ ¥«â ¬§«“¡‡√«Á 100%
motors.setM2rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 2 À¡πÿ µ“¡‡¢Á¡π“Ã°î “
motors.setM2speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 2 À¡ÿπ¥«â ¬§«“¡‡√Á« 100%
}

√“¬ß“π°“√«®‘ —¬°“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ ÿàπ¬πµå 145

aw 132-168 145 14/1/13, 11:36 PM

„∫§«“¡√∑⟠˒ 4.2
°“√‡¢’¬π‚ª√·°√¡§«∫§¡ÿ Àπÿà ¬πµµå √«®®—∫· ß

√Ÿª∑Ë’ 4.2.1 · ¥ß≈°— …≥–°“√‡§≈Õ◊Ë π∑Ë¢’ ÕßÀÿπà ¬πµåµ√«®®—∫· ß‚¥¬Ààÿπ¬πµå®–µ√«® Õ∫
· ß®“°‡´Áπ‡´Õ√å«—¥§à“§«“¡‡¢â¡¢Õß· ß (photo cell sensors) ∑’Ë∑”°“√µ‘¥µ—È߉«â∑Ë’¥â“πÀπâ“
¢ÕßÀàÿπ¬πµå∑—Èߥâ“π´â“¬·≈–¢«“ ∂ⓧ«“¡‡¢â¡¢Õß· ß¥â“π„¥¡’§à“§«“¡‡¢â¡· ß¡“°°«à“Ààÿπ¬πµå
®–‡§≈ÕË◊ π∑’ˉª∑»‘ ∑“ߥ—ß°≈à“« ·≈–§«“¡‡¢¡â · ß¡’¥“à „°≈⇧’¬ß°π— ®–‡§≈ËÕ◊ π∑’ˉª¢“â ßÀπâ“

√Ÿª∑Ë’ 4.2.1 √Ÿª°“√Õ“à π§à“‡´πÁ ‡´Õ√巠߇æÕË◊  àß§à“‰ª¬ß— §Õ¡æ‘«‡µÕ√å

°“√µ√«® Õ∫§“à §«“¡‡¢¡â ¢Õß· ß∑ËÀ’ ÿàπ¬πµÕå à“π§à“‰¥®â “°‡´Áπ‡´Õ√å· ß ¡Õ’ ªÿ °√≥嵓à ß
¥—ßµàÕ‰ªπÈ’ ™ÿ¥‡´Áπ‡´Õ√å«—¥§à“§«“¡‡¢â¡¢Õß· ß ·∫∫µ—«µâ“π∑“π‡ª≈Ë’¬π·ª≈ßµ“¡§à“§«“¡‡¢â¡
¢Õß· ß· ß (Light Dependent Resistors (LDR)) µàÕ‡¢“â ∫Õ√奠¡Õß°≈ OBECûs kit controller
board v1.0 ®“°πÈ—π‡™Ë◊Õ¡µàÕ “¬ USB ‡¢â“°—∫§Õ¡æ‘«‡µÕ√å‚¥¬ºà“π‚ª√‚µ§Õ≈·∫∫ UART
„π√ªŸ ∑’Ë 4.2.2 · ¥ß¿“æ√«¡°“√‡™ÕË◊ ¡µÕà √–À«à“߇´Áπ‡´Õ√å· ß·≈–§Õ¡æ«‘ ‡µÕ√å

146 146 √“¬ß“π°“√«‘®¬— °“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬’Àπàÿ ¬πµå

aw 132-168 14/1/13, 11:36 PM

√Ÿª∑’Ë 4.2.2 √Ÿª°“√Õ“à π§“à ‡´Áπ‡´Õ√·å  ß‡æÕ◊Ë  àߢâÕ¡≈Ÿ ‰ª¬ß— §Õ¡æ‘«‡µÕ√å

°®‘ °√√¡∑Ë’ 1 °“√Õ“à π§“à ®“°‡´Áπ‡´Õ√å· ß (photo cell sensor)
®“°√ªŸ ∑’Ë 4.2.2 · ¥ß∂÷ß¿“æ√«¡¢Õß√–∫∫°“√Õà“π§“à §«“¡‡¢â¡¢Õß· ß®“°‡´Áπ‡´Õ√å

· ß·≈â« àߢâÕ¡Ÿ≈∑’ËÕà“π‰¥â‰ª¬—ߧա摫‡µÕ√å À≈—ß®“°πÈ—π‡√Ë‘¡®“°∑”§«“¡‡¢â“„®º—ß°“√∑”ß“π
¢Õß‚ª√·°√¡Õà“π§à“§«“¡‡¢â¡¢Õß· ß· ¥ß„π√Ÿª∑’Ë 4.2.3 ·≈â«∑”°“√‡ªî¥‚ª√·°√¡ arduino
¢È÷π¡“ æ‘¡æ嵓¡µ—«Õ¬à“ß‚ª√·°√¡∑Ë’ 4 ®“°π—Èπ§Õ¡‰æ≈傪√·°√¡‡æ◊ËÕµ√«® Õ∫À“¢âÕº‘¥æ≈“¥
¢Õß‚ª√·°√¡∂“â ‰¡æà ∫¢Õâ º¥‘ æ≈“¥¢Õß‚ª√·°√¡ „À∑â ”°“√ÕÆ— ‚À≈¥‰ª¬ß— Àπÿà ¬πµå OBECûs Kit v1.0
®“°πÈ—π„™â¡◊ժ≈–‡ªî¥µ—«√—∫· ß¢ÕßÀÿàπ¬πµå·≈– —߇°µ§à“§«“¡‡¢â¡¢Õß· ß∑’ËÀÿàπ¬πµå
 ßà ‰ª· ¥ß∫πÀπâ“®Õ§Õ¡æ‘«‡µÕ√å

√“¬ß“π°“√«®‘ ¬— °“√æ—≤𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬À’ πàÿ ¬πµå 147

aw 132-168 147 14/1/13, 11:36 PM

µ«— Õ¬“à ß ºß— °“√∑”ß“π¢Õß‚ª√·°√¡Õà“π§“à ®“°‡´πÁ ‡´Õ√å· ß

√ªŸ ∑Ë’ 4.2.3 ºß— °“√∑”ß“π°“√Õà“π§à“®“°‡´Áπ‡´Õ√å· ß

148 148 √“¬ß“π°“√«®‘ ¬— °“√æ≤— 𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬’Àÿπà ¬πµå

aw 132-168 14/1/13, 11:36 PM

µ«— Õ¬“à ß ‚ª√·°√¡∑’Ë 4 °“√Õà“π§“à ‡´πÁ ‡´Õ√·å  ß

int value=0; ª√–°“»µ—«·ª√™ËÕ◊ value ·∫∫®”π«π‡µÁ¡

·≈–°”Àπ¥§à“‡√¡‘Ë µâπ‡∑à“°∫— 0

void setup() øßí °å™π—  ”À√—∫°“√°”Àπ¥§“à ‡√‘¡Ë µâπ¢Õß°“√∑”ß“π

{

Serial.begin(9600); °“√°”Àπ¥Õµ— √“°“√√—∫- àߢÕâ ¡Ÿ≈‡∑à“°—∫ 9600 ∫µ‘ µàÕ«‘π“∑’

}

void loop() øíß°™å —πÀ≈—°„π°“√∑”ß“π

{

value = analogRead(0); Õà“π§à“‡´Áπ‡´Õ√·å  ß®“°™àÕß ≠— ≠“≥Õπ“≈ÁÕ° 0

‡°∫Á ‰«â„𵫗 ·ª√ value

Serial.print(çlight sensor #1 value=é);  ßà ¢âÕ§«“¡ çlight sensor #1 value=é ‰ª¬ß— §Õ¡æ‘«‡µÕ√å

Serial.print(value,DEC);  àߧ“à ∑‡Ë’ °∫Á ‰«â„𵫗 ·ª√ value ‰ª¬ß— §Õ¡æ«‘ ‡µÕ√å

Serial.print(ç, ç);  àߢÕâ §«“¡ ç, ç ‰ª¬—ߧա櫑 ‡µÕ√å

Serial.print(çlight sensor #2 value=é);  ßà ¢âÕ§«“¡ çlight sensor #2 value=é ‰ª¬—ߧա櫑 ‡µÕ√å

value = analogRead(1); Õà“π§à“‡´πÁ ‡´Õ√·å  ß®“°™àÕß ≠— ≠“≥Õπ“≈ÕÁ ° 1

‡°Á∫‰«â„πµ—«·ª√ value

Serial.println(value,DEC);  àߧà“∑Ë’‡°∫Á ‰«â„𵫗 ·ª√ value ‰ª¬ß— §Õ¡æ‘«‡µÕ√å

delay(20); Àπà«ß‡«≈“ 20 ¡‘≈≈‘«‘π“∑’

}

√–∫∫Ààÿπ¬πµå‡§≈Ë◊Õπ∑’˵“¡· ßª√–°Õ∫‰ª¥â«¬Õÿª°√≥åµà“ߥ—ßµàÕ‰ªπÈ’ ™ÿ¥‡´Áπ‡´Õ√å
«—¥§à“§«“¡‡¢â¡¢Õß· ß ·∫∫µ—«µâ“π∑“π‡ª≈’ˬπ·ª≈ßµ“¡§à“§«“¡‡¢â¡¢Õß· ß· ß (Light
Dependent Resistors (LDR)) µàÕ‡¢â“∫Õ√奠¡Õß°≈ OBECûs kit controller board v1.0
·≈–∑”°“√‡™◊ËÕ¡µàÕ∫Õ√奢¬“¬ —≠≠“≥¡Õ‡µÕ√å‡Õ“∑åæÿ∑·∫∫ 2 ™àÕß (2 channel) ·≈–
∫Õ√奠¡Õß°≈ OBECûs kit controller board v1.0 ‡¢“⠥⫬°—π „π√ªŸ ∑Ë’ 4.2.4 · ¥ß¿“æ√«¡
°“√‡™ÕË◊ ¡µÕà √–À«“à ߇´πÁ ‡´Õ√·å  ß√–∫∫¢∫— ‡§≈ÕË◊ π ·≈–∫Õ√¥å §«∫§¡ÿ OBECûs kit controller v1.0

√“¬ß“π°“√«‘®¬— °“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ πàÿ ¬πµå 149

aw 132-168 149 14/1/13, 11:36 PM

√Ÿª∑Ë’ 4.2.4 √ªŸ °“√‡™Õ◊Ë ¡µàÕ ”À√∫— Ààÿπ¬πµ‡å §≈Õ◊Ë π∑Ë’µ“¡· ß

°®‘ °√√¡∑’Ë 2 Ààÿπ¬πµ‡å §≈Ë◊Õπ∑µË’ “¡· ß
√Ÿª∑Ë’ 4.2.5 · ¥ßµ—«Õ¬à“ߺ—ß°“√∑”ß“π¢Õß‚ª√·°√¡°“√§«∫§ÿ¡Ààÿπ¬πµå‡§≈Ë◊Õπ∑Ë’

µ“¡· ß À≈ß— ®“°ππÈ— ∑”§«“¡‡¢“â „®ºß— °“√∑”ß“π¢Õß‚ª√·°√¡‡√¬’ ∫√Õâ ¬·≈«â ∑”°“√‡ª¥î ‚ª√·°√¡
arduino ¢÷Èπ¡“ æ‘¡æ嵓¡µ—«Õ¬à“ß‚ª√·°√¡∑’Ë 5 ®“°πÈ—π§Õ¡‰æ≈傪√·°√¡‡æË◊Õµ√«® Õ∫À“
¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡∂Ⓣ¡àæ∫¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡ „Àâ∑”°“√Õ—Æ‚À≈¥‰ª¬—ßÀàÿπ¬πµå
OBECûs Kit v1.0 ®“°ππ—È π”Àπÿà ¬πµ¡å “«“ß∑æ’Ë π◊È ·≈«â °¥ª¡Éÿ  «µ‘ ™‡å ª¥î  ß— ‡°µ°“√≥∑å ”ß“π¢ÕßÀπÿà ¬πµå

150 150 √“¬ß“π°“√«®‘ ¬— °“√æ≤— 𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬’Àπÿà ¬πµå

aw 132-168 14/1/13, 11:36 PM

µ«— Õ¬à“ß ºß— °“√∑”ß“π¢Õß‚ª√·°√¡Àÿàπ¬πµå‡§≈◊ËÕπ∑µË’ “¡· ß

√Ÿª∑Ë’ 4.2.5 º—ß°“√‡™Ë◊Õ¡µÕà  ”À√∫— Ààÿπ¬πµå‡§≈ËÕ◊ π∑˵’ “¡· ß

µ«— Õ¬“à ß ‚ª√·°√¡∑Ë’ 5 Àÿπà ¬πµå‡§≈Ë◊Õπ∑’µË “¡· ß

#include <OBECMotors.h> ‡√’¬°„™â library  ”À√∫— °“√§«∫§¡ÿ ¡Õ‡µÕ√å
OBECMotors motors; ª√–°“»µ—«·ª√ ”À√—∫°“√‡√’¬°„™â library ¢Õß¡Õ‡µÕ√å
int val1=0, val2=0, val3=0; ª√–°“»µ—«·ª√ val1, val2 ·≈– val3 ·∫∫®”π«π‡µÁ¡
°”Àπ¥§à“‡√‘Ë¡µπâ ‡∑“à °∫— 0 À¡¥
int offset=50; ª√–°“»µ«— ·ª√ ™Ë◊Õ offset ·∫∫®”π«π‡µ¡Á ‚¥¬°”Àπ¥§“à ‡√Ë¡‘ µâπ
‡∑“à °—∫ 50
void setup() øíß°™å —π ”À√∫— °“√°”Àπ¥§à“‡√Ë¡‘ µâπ¢Õß°“√∑”ß“π
{
// nothing øßí °™å —πÀ≈°— „π°“√∑”ß“π
}
void loop() Õ“à π§“à ‡´πÁ ‡´Õ√·å  ß®“°™Õà ß ≠— ≠“≥Õπ“≈ÕÁ ° 0 ‡°∫Á ‰«â„𵫗 ·ª√ val1
{ Õ“à π§“à ‡´πÁ ‡´Õ√·å  ß®“°™Õà ß ≠— ≠“≥Õπ“≈ÕÁ ° 1 ‡°∫Á ‰«â„𵫗 ·ª√ val2
val1=analogRead(0); À“§“à §«“¡·µ°µ“à ߢÕ߇´Áπ‡´Õ√å· ß∑—Èß 2 µ«—
val2=analogRead(1);
val3 = abs(val1-val2);

√“¬ß“π°“√«‘®—¬°“√æ≤— 𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬À’ πÿà ¬πµå 151

aw 132-168 151 14/1/13, 11:36 PM

if( val3 < offset) ∂“â val3 πÕâ ¬°«“à offset „ÀÀâ πàÿ ¬πµå‡§≈Ë◊Õπ∑’ˉª¢â“ßÀπâ“

{

robot_fw(100,100); ‡√¬’ °„™âøíß°å™—π°“√‡§≈Ë◊Õπ∑’ˉª¢â“ßÀπⓥ⫬§«“¡‡√Á«¡Õ‡µÕ√åµ—«∑Ë’ 1

‡∑à“°∫— 100% ·≈–¡Õ‡µÕ√µå «— ∑’Ë 2 ‡∑à“°—∫ 100%

}

else if(val1 > val2) ∂â“ val1 πÕâ ¬°«à“ val2 „ÀâÀπàÿ ¬πµ‡å ≈’¬È «´“â ¬

{

robot_tl(); ‡√’¬°„™âøßí °å™—π ”À√—∫‡≈¬’È «´“â ¬ (À¡πÿ ∑«π‡¢Á¡π“Ãî°“)

}

else if(val1 < val2) ∂“â val1 πÕâ ¬°«à“ val2 „À‡â ≈È’¬«¢«“

{

robot_tr(); ‡√¬’ °„™øâ íß°™å —π ”À√∫— ‡≈Ȭ’ «¢«“ (À¡ÿπµ“¡‡¢Á¡π“Ãî°“)

}

}

void robot_fw(int speed1, int speed2) øßí °å™—π ”À√—∫°“√‡§≈◊ËÕπ∑Ë’‰ª¢“â ßÀπâ“

{

motors.setM1rotate(CCW); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑Ë’ 1 À¡πÿ ∑«π‡¢Á¡π“Ã°î “

motors.setM1speed(speed1); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑’Ë 1 À¡ÿπ¥â«¬§«“¡‡√Á«µ“¡µ«— ·ª√ speed1

motors.setM2rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 2 À¡ÿπµ“¡‡¢¡Á π“Ã°î “

motors.setM2speed(speed2); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑Ë’ 2 À¡πÿ ¥«â ¬§«“¡‡√«Á µ“¡µ—«·ª√ speed2

}

void robot_tl() øßí °™å π—  ”À√—∫‡≈Ȭ’ «´“â ¬ (À¡ÿπ∑«π‡¢Á¡π“Ã°î “)

{

motors.setM1rotate(CCW); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 1 À¡πÿ ∑«π‡¢¡Á π“Ã°î “

motors.setM1speed(100); °”Àπ¥„À¡â Õ‡µÕ√åµ—«∑’Ë 1 À¡πÿ ¥â«¬§«“¡‡√«Á 100%

motors.setM2rotate(CCW); °”Àπ¥„Àâ¡Õ‡µÕ√µå —«∑’Ë 2 À¡ÿπ∑«π‡¢Á¡π“Ãî°“

motors.setM2speed(100); °”Àπ¥„À¡â Õ‡µÕ√嵫— ∑’Ë 2 À¡ÿπ¥«â ¬§«“¡‡√Á« 100%

}

void robot_tr() øßí °å™—π ”À√—∫‡≈¬È’ «¢«“ (À¡πÿ µ“¡‡¢¡Á π“Ã°î “)

{

motors.setM1rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑’Ë 1 À¡ÿπµ“¡‡¢¡Á π“Ã°î “

motors.setM1speed(100); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑’Ë 1 À¡πÿ ¥â«¬§«“¡‡√«Á 100%

motors.setM2rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 2 À¡ÿπµ“¡‡¢Á¡π“Ã°î “

motors.setM2speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√µå —«∑Ë’ 2 À¡πÿ ¥â«¬§«“¡‡√Á« 100%

}

152 √“¬ß“π°“√«®‘ ¬— °“√æ≤— 𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬’Ààπÿ ¬πµå

aw 132-168 152 14/1/13, 11:36 PM

void robot_stop() øßí °å™—πÀ¬¥ÿ °“√‡§≈◊ËÕπ∑’Ë¢ÕßÀπÿà ¬πµå
{
motors.setM1speed(0); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 1 À¬¥ÿ À¡ÿπ
motors.setM2speed(0); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑’Ë 2 À¬ÿ¥À¡πÿ
}

√“¬ß“π°“√«‘®—¬°“√æ—≤𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬’Ààÿπ¬πµå 153

aw 132-168 153 14/1/13, 11:36 PM

„∫§«“¡√Ÿâ∑Ë’ 4.3
°“√‡¢’¬π‚ª√·°√¡§«∫§¡ÿ Àÿπà ¬πµ‡å §≈Ë◊Õπ∑µË’ “¡‡ πâ

√Ÿª∑’Ë 4.3.1 · ¥ß≈—°…≥–°“√‡§≈Ë◊Õπ∑’Ë¢ÕßÀàÿπ¬πµå OBECûs kit „π√Ÿª·∫∫µà“ß Ê
¥â«¬‡´Áπ‡´Õ√åÕ‘πø√“‡√¥·∫∫ –∑âÕπ°≈—∫ (reflector infrared sensor) ‚¥¬Ààÿπ¬πµå∑”°“√
Õà“π§à“®“°‡´Áπ‡´Õ√å·≈â«∑”°“√ª√–¡«≈º≈®“°§à“∑Ë’‡´Áπ‡´Õ√å∑’ËÕà“π‰¥â ·≈â«∑”°“√§«∫§ÿ¡
°“√‡§≈◊ÕË π∑’¢Ë ÕßÀÿπà ¬πµå„À‡â ªπì ‰ªµ“¡‡ß◊ËÕπ‰¢∑Ë’°”À𥉫â

√ªŸ ∑’Ë 4.3.1 °“√§«∫§ÿ¡Àÿàπ¬πµ‡å §≈Ë◊Õπ∑µË’ “¡‡ πâ

°àÕπÕ◊Ëπ„π°“√‡¢’¬π‚ª√·°√¡§«∫§ÿ¡Ààÿπ¬πµå‡§≈◊ËÕπ∑Ë’µ“¡‡ âπ ‡√Ë‘¡µâπ°“√∑”ß“π¢Õß
Ààÿπ¬πµå®–µâÕß°“√Õà“π§à“°“√ –∑âÕπ¢Õ߇ âπ‡ªìπ∑Ë’§à“Õâ“ßÕ‘ß (reference value) ‡æ◊ËÕ„™â„π°“√
«‡‘ §√“–À°å “√‡§≈ËÕ◊ π∑’Ë √–∫∫°“√Õà“π§“à °“√ –∑Õâ π¢Õ߇ πâ ª√–°Õ∫‰ª¥«â ¬Õÿª°√≥嵓à ß Ê ¥ß— µàÕ‰ªπ’È
‡´πÁ ‡´Õ√åÕπ‘ ø√“‡√¥·∫∫ –∑Õâ 𠇙ÕË◊ ¡µàÕ°—∫∫Õ√¥å  ¡Õß°≈ OBECûs kit controller board v1.0
·≈–Õªÿ °√≥·å  ¥ßº≈º“à π∑“߮տ“æ·∫∫µ«— Õ°— …√ (Liquid Crystal Display (LCD) ™π¥‘ 2 ·∂«
16 À≈—° (16x2) √ªŸ ∑Ë’ 4.3.2 · ¥ß¿“æ√«¡°“√‡™Ë◊Õ¡µàÕ√–∫∫Õà“π§à“°“√ –∑Õâ π¢Õß· ß

154 154 √“¬ß“π°“√«‘®¬— °“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ πÿà ¬πµå

aw 132-168 14/1/13, 11:36 PM

√Ÿª∑’Ë 4.3.2 °“√Õ“à π§à“°“√ –∑Õâ π· ß· ¥ßº≈ºà“π®Õ¿“æ·∫∫µ«— Õ°— …√

°®‘ °√√¡∑’Ë 1 °“√Õ“à π§à“°“√ –∑âÕπ· ß¢Õ߇ πâ
√ªŸ ∑Ë’ 4.3.3 · ¥ßºß— °“√∑”ß“π¢Õß‚ª√·°√¡°“√Õà“π§à“°“√ –∑âÕπ· ß¢Õ߇ âπº“à π

∑“߮տ“æ·∫∫µ«— Õ°— …√À≈ß— ®“°∑”§«“¡‡¢“â „®ºß— °“√∑”ß“π‚ª√·°√¡·≈«â „À∑â ”°“√‡ª¥î ‚ª√·°√¡
arduino ¢È÷π¡“ æ‘¡æ嵓¡µ—«Õ¬à“ß‚ª√·°√¡∑Ë’ 6 ®“°πÈ—π§Õ¡‰æ≈傪√·°√¡‡æË◊Õµ√«® Õ∫À“
¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡∂Ⓣ¡àæ∫¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡ „Àâ∑”°“√Õ—Æ‚À≈¥‰ª¬—ßÀÿàπ¬πµå
OBECûs Kit ®“°π—Èππ”Àÿàπ¬πµå¡“«“ß∑’ËæÈ◊π∑’Ë¡’‡ âπ ’¥”·≈–æÈ◊π ’¢«“·≈â«¢¬—∫‰ª¡“√–À«à“ßæÈ◊π
∑È—ß Õß·∫∫ ·≈– —߇°µ°“√‡ª≈¬’Ë π·ª≈ߧà“∑·Ë’  ¥ßº≈∫π®Õ¿“æ

√“¬ß“π°“√«‘®—¬°“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬’Àπÿà ¬πµå 155

aw 132-168 155 14/1/13, 11:36 PM

µ«— Õ¬à“ß º—ß°“√∑”ß“π¢Õß‚ª√·°√¡°“√Õ“à π§“à °“√ –∑âÕπ· ß¢Õ߇ âπ

√ªŸ ∑Ë’ 4.3.3 √Ÿªº—ß°“√Õ“à π§“à °“√ –∑âÕπ¢Õ߇ πâ

156 156 √“¬ß“π°“√«‘®¬— °“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬À’ àπÿ ¬πµå

aw 132-168 14/1/13, 11:37 PM

µ«— Õ¬“à ß ‚ª√·°√¡∑’Ë 6 °“√Õà“π§à“°“√ –∑Õâ π· ß¢Õ߇ âπ

#include <LiquidCrystal.h> ‡√¬’ °„™â library  ”À√—∫°“√§«∫§ÿ¡®Õ· ¥ßº≈·∫∫µ—«Õ°— …√
LiquidCrystal lcd °”Àπ¥¢“ ≠— ≠“≥¢Õ߮շ ¥ßº≈
(23, 22, 16, 17, 18, 19); RS=23, E=22, D4=16,D5=17, D6=18, D7=19
int val1 = 0, val2=0; ª√–°“»µ—«·ª√ val1·≈– val2 ·∫∫®”π«π‡µÁ¡
·≈–°”Àπ¥§“à ‡√‘Ë¡µâπ‡ªìπ 0
void setup() øßí °™å π—  ”À√—∫°“√°”Àπ¥§“à ‡√Ë¡‘ µâπ¢Õß°“√∑”ß“π
{
lcd.begin(16, 2); °”Àπ¥§“à ‡√‘Ë¡µâπ¢Õß lcd ‡ªπì ·∫∫ 2 ·∂« 16 À≈°—
lcd.clear(); ≈∫Àπâ“®Õ lcd ∑—ßÈ À¡¥
lcd.print(çHello,OBECûs kité); æ‘¡æå ¢âÕ§«“¡ çHello,OBECs’ kité
}
void loop() øíß°å™—πÀ≈°— „π°“√∑”ß“π
{
val1=analogRead(0); Õà“π§à“‡´πÁ ‡´Õ√å· ß®“°™Õà ß —≠≠“≥Õπ“≈ÕÁ ° 0
‡°Á∫‰«â„𵫗 ·ª√ val1
val2=analogRead(1); Õà“π§“à ‡´πÁ ‡´Õ√å· ß®“°™Õà ß —≠≠“≥Õπ“≈ÁÕ° 1
‡°Á∫‰«â„πµ—«·ª√ val2
lcd.setCursor(0,1); °”Àπ¥µ”·Àπßà ‡§Õ√凴Õ√å ∑Ë’ ·∂«∑Ë’ 1 À≈°— ∑Ë’ 0
lcd.print(çval1=é); æ‘¡æ姓à val1
lcd.setCursor(8,1); °”Àπ¥µ”·Àπßà ‡§Õ√‡å ´Õ√å ∑Ë’ ·∂«∑Ë’ 1 À≈°— ∑’Ë 8
lcd.print(çVal2=û); æ‘¡æå ¢âÕ§«“¡ ç#2 sensor isé
lcd.print(Val2); æ¡‘ æ§å “à val2
delay(20); Àπà«ß‡«≈“ 20 ¡‘≈≈«‘ π‘ “∑’
}

°“√§«∫§ÿ¡Àÿàπ¬πµå‡§≈◊ËÕπ∑’˵“¡‡ âπ· ¥ß„π√Ÿª∑’Ë 4.3.4 ‚¥¬‡√‘Ë¡®“°Ààÿπ¬πµåÕà“π§à“
°“√ –∑âÕπ· ß¥â«¬‡´Áπ‡´Õ√åÕ‘πø√“‡√¥·∫∫ –∑âÕπ°≈—∫ (reflector infrared sensor)
·≈â«∑”°“√ª√–¡«≈º≈®“°πÈ—π —Ëß„ÀâÀàÿπ¬πµå‡§≈◊ËÕπ∑’Ë„π√Ÿª·∫∫µà“ß Ê ‡™àπ∂â“Ààÿπ¬πµåÕ¬àŸ∫π‡ âπ
„ÀâÀàÿπ¬πµå‡§≈◊ËÕπ∑’ˉª¢â“ßÀπâ“ ∂â“Àÿàπ¬πµåÀ≈ÿ¥ÕÕ°®“°‡ âπ∑“ߥâ“π´â“¬„ÀâÀÿàπ¬πµå‡≈È’¬«¢«“
„π∑“ß°∫— °≈∫— °—π∂“â Àÿàπ¬πµåÀ≈¥ÿ ÕÕ°®“°‡ πâ ∑“ߥâ“π¢«“„ÀâÀÿπà ¬πµå‡≈Ȭ’ «´“â ¬

√“¬ß“π°“√«‘®—¬°“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ àÿπ¬πµå 157

aw 132-168 157 14/1/13, 11:37 PM

√Ÿª∑’Ë 4.3.4 √ŸªÀÿàπ¬πµ‡å §≈ÕË◊ π∑’˵“¡‡ πâ

√Ÿª∑’Ë 4.3.5 · ¥ß¿“æ√«¡°“√‡™◊ËÕ¡¢Õß°“√§«∫§ÿ¡Àÿàπ¬πµ‡å §≈◊ËÕπ∑µ’Ë “¡‡ âπ ª√–°Õ∫
‰ª¥â«¬Õªÿ °√≥嵓à ßÊ ¥—ßµÕà ‰ªπÈ’ ‡´Áπ‡´Õ√åÕ‘πø√“‡√¥·∫∫ –∑Õâ π (reflector infrared sensor)
‡™◊ËÕ¡µÕà °∫— ∫Õ√¥å  ¡Õß°≈ OBECûs kit controller board v1.0 ·≈–‡™◊ÕË ¡µÕà ¡Õ‡µÕ√æå √Õâ ¡™¥ÿ
‡øóÕߢ∫— ¡Õ‡µÕ√凢“â °—∫∫Õ√奢¬“¬ ≠— ≠“≥¡Õ‡µÕ√å

158 √ªŸ ∑Ë’ 4.3.5 √ªŸ Àπàÿ ¬πµ‡å §≈Õ◊Ë π∑’˵“¡‡ âπ

aw 132-168 √“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬’Àπÿà ¬πµå

158 14/1/13, 11:37 PM

°‘®°√√¡∑Ë’ 2 Ààÿπ¬πµ‡å §≈◊ËÕπ∑Ë’µ“¡‡ âπ
√Ÿª∑’Ë 4.3.6 · ¥ßº—ß°“√∑”ß“π¢Õß‚ª√·°√¡§«∫§ÿ¡Àÿàπ¬πµå‡§≈◊ËÕπ∑Ë’µ“¡‡ âπ

‡√‘Ë¡®“°∑”§«“¡‡¢â“„®º—ß°“√∑”ß“π¢Õß‚ª√·°√¡Ààÿπ¬πµå‡§≈Ë◊Õπ∑’˵“¡‡ âπ ®“°πÈ—π∑”°“√‡ªî¥
‚ª√·°√¡ arduino ¢Èπ÷ ¡“ æ‘¡æµå “¡µ—«Õ¬à“ß‚ª√·°√¡∑’Ë 7 ·≈«â §Õ¡‰æ≈傪√·°√¡‡æ◊ËÕµ√«® Õ∫
À“¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡∂Ⓣ¡àæ∫¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡ „Àâ∑”°“√Õ—Æ‚À≈¥‰ª¬—ßÀàÿπ¬πµå
OBECûs Kit v1.0 ®“°ππ—È π”Ààÿπ¬πµå¡“«“ß∑’Ëæ◊πÈ ∑’Ë¡‡’  πâ  ¥’ ” (√ªŸ ∑Ë’ 4.3.4) ·≈«â °¥ª¡Éÿ  «µ‘ ™å‡ª¥î
 ß— ‡°µ°“√∑”ß“π¢ÕßÀÿàπ¬πµå

µ«— Õ¬à“ß ºß— °“√∑”ß“π¢Õß‚ª√·°√¡Ààÿπ¬πµå‡§≈Õ◊Ë π∑µ’Ë “¡‡ âπ

√ªŸ ∑Ë’ 4.3.6 √Ÿªº—ßÀÿπà ¬πµ‡å §≈ËÕ◊ π∑˵’ “¡‡ πâ

√“¬ß“π°“√«®‘ ¬— °“√æ—≤𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬’Àπàÿ ¬πµå 159

aw 132-168 159 14/1/13, 11:37 PM

µ«— Õ¬“à ß ‚ª√·°√¡∑’Ë 7 °“√‡§≈◊ËÕπ∑’˵“¡‡ πâ

#include <OBECMotors.h> ‡√¬’ °„™â library  ”À√—∫°“√§«∫§¡ÿ ¡Õ‡µÕ√å
OBECMotors motors; ª√–°“»µ«— ·ª√ ”À√∫— °“√‡√¬’ °„™â library ¢Õß¡Õ‡µÕ√å
int val1=0, val2=0; ª√–°“»µ«— ·ª√ val1 ·≈– val2 ·∫∫®”π«π‡µÁ¡°”Àπ¥§“à ‡√¡Ë‘ µâπ
෈ҡѺ 0
int threshold1=100, ª√–°“»µ«— ·ª√ ™◊ÕË threshold1 ·≈– threshold2 ·∫∫®”π«π‡µÁ¡
threshold2=100; ‚¥¬°”Àπ¥§“à ‡√‘Ë¡µπâ ‡∑à“°—∫ 100
void setup() øíß°™å π—  ”À√—∫°“√°”Àπ¥§à“‡√¡Ë‘ µâπ¢Õß°“√∑”ß“π
{
//nothing øßí °å™—πÀ≈—°„π°“√∑”ß“π
}
void loop() Õ“à π§“à ‡´Áπ‡´Õ√·å  ß®“°™Õà ß ≠— ≠“≥Õπ“≈ÁÕ° 0
{ ‡°∫Á ‰«â„𵫗 ·ª√ val1
val1=analogRead(0); Õ“à π§“à ‡´πÁ ‡´Õ√å· ß®“°™Õà ß ≠— ≠“≥Õπ“≈ÁÕ° 1
‡°∫Á ‰«â„𵫗 ·ª√ val2
val2=analogRead(1); ∂â“ val1 ¡“°°«“à threshold1 ·≈– val2 ¡“°°«à“
threshold2 „ÀÀâ ÿàπ¬πµ‡å §≈ËÕ◊ π∑’ˉª¢“â ßÀπâ“
if((val1>threshold1) &&
(val2>threshold2)) ‡√¬’ °„™øâ ßí °™å π— °“√‡§≈Õ◊Ë π∑Ë’‰ª¢“â ßÀπ“â ¥«â ¬§«“¡‡√«Á ¡Õ‡µÕ√µå «— ∑’Ë 1
{ ‡∑à“°∫— 100% ·≈–¡Õ‡µÕ√嵫— ∑’Ë 2 ‡∑“à °∫— 100%
robot_fw(100,100);
∂“â val1 πÕâ ¬°«“à threshold1 ·≈– val2 πÕâ ¬°«“à threshold2
} „ÀÀâ πÿà ¬πµå‡§≈Ë◊Õπ∑Ë’‰ª¢“â ßÀπ“â
else if((val1<threshold1) &&
(val2<threshold2)) ‡√¬’ °„™øâ ßí °™å π— °“√‡§≈ÕË◊ π∑Ë’‰ª¢“â ßÀπ“â ¥«â ¬§«“¡‡√«Á ¡Õ‡µÕ√µå «— ∑Ë’ 1
{ ‡∑“à °∫— 100% ·≈–¡Õ‡µÕ√嵫— ∑’Ë 2 ‡∑à“°—∫ 100%
robot_fw(100,100);
∂“â val1 ¡“°°«“à threshold1 ·≈– val2 πâÕ¬°«“à threshold2
} „ÀâÀÿàπ¬πµ‡å ≈È’¬«¢«“
else if((val1>threshold1) &&
(val2<threshold2)) ‡√’¬°„™øâ ßí °™å π—  ”À√—∫‡≈È’¬«¢«“ (À¡ÿπµ“¡‡¢Á¡π“Ã°î “)
{ Àπà«ß‡«≈“ 100 ¡‘≈≈«‘ ‘π“∑’
robot_tr();
delay(100);
}

160 √“¬ß“π°“√«‘®¬— °“√æ—≤𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬’Àπÿà ¬πµå

aw 132-168 160 14/1/13, 11:37 PM

else if((val1<threshold1) && ∂â“ val1 πÕâ ¬°«“à threshold1 ·≈– val2 ¡“°°«à“ threshold2

(val2>threshold2)) „ÀâÀàÿπ¬πµå‡≈È’¬«´â“¬

{

robot_tl(); ‡√’¬°„™øâ íß°å™—π ”À√∫— ‡≈È’¬«´â“¬ (À¡ÿπ∑«π‡¢¡Á π“Ãî°“)

delay(100); Àπà«ß‡«≈“ 100 ¡‘≈≈‘«π‘ “∑’

}

}

void robot_fw(int speed1, int speed2) øßí °™å π— °“√‡§≈Ë◊Õπ∑Ë’‰ª¢â“ßÀπâ“

{

motors.setM1rotate(CCW); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 1 À¡ÿπ∑«π‡¢Á¡π“Ã°î “

motors.setM1speed(speed1); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 1 À¡πÿ ¥â«¬§«“¡‡√Á«µ“¡µ—«·ª√ speed1

motors.setM2rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√嵫— ∑’Ë 2 À¡πÿ µ“¡‡¢Á¡π“Ãî°“

motors.setM2speed(speed2); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑’Ë 2 À¡πÿ ¥â«¬§«“¡‡√Á«µ“¡µ«— ·ª√ speed2

}

void robot_tl() øßí °å™—π ”À√∫— ‡≈È’¬«´“â ¬ (À¡ÿπ∑«π‡¢¡Á π“Ã°î “)

{

motors.setM1rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑Ë’ 1 À¡ÿπµ“¡‡¢¡Á π“Ã°î “

motors.setM1speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑Ë’ 1 À¡πÿ ¥«â ¬§«“¡‡√«Á 100%

motors.setM2rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 2 À¡πÿ µ“¡‡¢¡Á π“Ãî°“

motors.setM2speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑’Ë 2 À¡ÿπ¥â«¬§«“¡‡√Á« 100%

}

void robot_tr() øíß°™å —π ”À√∫— ‡≈’¬È «¢«“ (À¡πÿ µ“¡‡¢Á¡π“Ã°î “)

{

motors.setM1rotate(CCW); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 1 À¡ÿπ∑«π‡¢¡Á π“Ãî°“

motors.setM1speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑Ë’ 1 À¡ÿπ¥â«¬§«“¡‡√«Á 100%

motors.setM2rotate(CCW); °”Àπ¥„À¡â Õ‡µÕ√嵫— ∑’Ë 2 À¡πÿ ∑«π‡¢¡Á π“Ã°î “

motors.setM2speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 2 À¡ÿπ¥â«¬§«“¡‡√Á« 100%

}

void robot_stop() øßí °å™π— À¬ÿ¥°“√‡§≈ËÕ◊ π∑Ë’

{

motors.setM1speed(0); °”Àπ¥„Àâ¡Õ‡µÕ√µå —«∑’Ë 1 À¬¥ÿ À¡ÿπ

motors.setM2speed(0); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑’Ë 2 À¬ÿ¥À¡ÿπ

}

√“¬ß“π°“√«‘®¬— °“√æ—≤𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬’Àÿπà ¬πµå 161

aw 132-168 161 14/1/13, 11:37 PM

„∫§«“¡√Ÿ∑â ’Ë 4.4
°“√‡¢’¬π‚ª√·°√¡§«∫§¡ÿ Àÿàπ¬πµå‡§≈◊ËÕπ∑µË’ “¡‡ πâ º“à π∑“ß·¬°

°“√§«∫§ÿ¡Àÿàπ¬πµå‡§≈◊ËÕπ∑’˵“¡‡ âπºà“π∑“ß·¬°æ√âÕ¡°—∫· ¥ß®”π«π∑“ß·¬°∑Ë’
‡§≈Õ◊Ë π∑º’Ë “à π· ¥ß„π√ªŸ ∑Ë’ 4.4.1 ‚¥¬°“√ª√–¡«≈º≈¢ÕßÀπÿà ¬πµµå Õâ ß∑”°“√«‡‘ §√“–À°å “√‡§≈ÕË◊ π∑’Ë
µ“¡‡ âπ·≈–À“∑“ß·¬°‰ªµ“¡≈”¥—∫·≈â« Ë—ß„ÀâÀÿà¬πµå‡§≈◊ËÕπ∑’Ëæ√âÕ¡°—∫· ¥ß®”π«π∑“ß·¬°∑’Ë
Àπÿà ¬πµµå √«®‡®Õº“à π∑“߮տ“æ·∫∫µ—«Õ—°…√ (Liquid Crystal Display (LCD)

√Ÿª∑’Ë 4.4.1 Ààÿπ¬πµå‡§≈◊ËÕπ∑’˵“¡‡ πâ ºà“π∑“ß·¬°

√ªŸ ∑Ë’ 4.4.2 · ¥ß¿“æ√«¡°“√‡™ÕË◊ ¡¢Õß°“√§«∫§¡ÿ Àπÿà ¬πµ‡å §≈ÕË◊ π∑µË’ “¡‡ πâ º“à π∑“ß·¬°
ª√–°Õ∫‰ª¥â«¬Õÿª°√≥åµà“ß Ê ¥ß— µàÕ‰ªπÈ’ ‡´πÁ ‡´Õ√åÕπ‘ ø√“‡√¥·∫∫ –∑âÕπ (reflector infrared
sensor) ‡™◊ËÕ¡µàÕ°—∫∫Õ√奠¡Õß°≈ OBECûs kit controller board v1.0 ®“°π—Èπ‡™◊ËÕ¡µàÕ
¡Õ‡µÕ√åæ√âÕ¡™ÿ¥‡øóÕߢ—∫¡Õ‡µÕ√凢⓰—∫∫Õ√奢¬“¬ —≠≠“≥¡Õ‡µÕ√å ·≈–‡™Ë◊Õ¡µàÕ®Õ¿“æ·∫∫
µ—«Õ°— …√ (Liquid Crystal Display (LCD)) ™π‘¥ 2 ·∂« 16 À≈—° °∫— ∫Õ√¥å  ¡Õß°≈ OBECûs kit
controller board v1.0

162 162 √“¬ß“π°“√«‘®¬— °“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬À’ àÿπ¬πµå

aw 132-168 14/1/13, 11:37 PM

√Ÿª∑Ë’ 4.4.2 √ŸªÀπàÿ ¬πµ‡å §≈◊ËÕπ∑µ’Ë “¡‡ âπº“à π∑“ß·¬°

°‘®°√√¡∑Ë’ 1 Àπàÿ ¬πµå‡§≈ÕË◊ π∑µ’Ë “¡‡ âπºà“π∑“ß·¬°
√Ÿª∑’Ë 4.4.3 · ¥ßºß— °“√∑”ß“π¢Õß‚ª√·°√¡§«∫§ÿ¡Àÿπà ¬πµ‡å §≈◊ËÕπ∑‡’Ë §≈ËÕ◊ π∑’µË “¡‡ âπ

ºà“π∑“ß·¬° ‡√‘Ë¡®“°∑”§«“¡‡¢â“„®º—ß°“√∑”ß“π¢Õß‚ª√·°√¡®“°π—Èπ∑”°“√‡ªî¥‚ª√·°√¡
arduino ¢π÷È ¡“ æ¡‘ æµå “¡µ«— Õ¬“à ß‚ª√·°√¡∑Ë’ 8 ·≈«â §Õ¡‰æ≈傪√·°√¡‡æÕ◊Ë µ√«® Õ∫À“¢Õâ º¥‘ æ≈“¥
¢Õß‚ª√·°√¡ ∂Ⓣ¡æà ∫¢Õâ º‘¥æ≈“¥¢Õß‚ª√·°√¡ „Àâ∑”°“√Õ—æ‚À≈¥‰ª¬—ßÀàπÿ ¬πµå OBECûs Kit
®“°πÈ—ππ”Àÿàπ¬πµå¡“«“ß∑Ë’æ◊Èπ∑Ë’¡’‡ âπ ’¥”·≈–¡’∑“ß·¬°À√◊Õ‡ âπµ—¥¢«“ß·≈â«°¥ªÉÿ¡ «‘µ™å
‡ª¥î ‡æÕ◊Ë „ÀÀâ πÿà ¬πµå∑”ß“π  —ß‡°µ°“√∑”ß“π¢ÕßÀÿπà ¬πµå

√“¬ß“π°“√«‘®¬— °“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬’Àπÿà ¬πµå 163

aw 132-168 163 14/1/13, 11:37 PM

µ«— Õ¬“à ß º—ß°“√∑”ß“π¢Õß‚ª√·°√¡Àπÿà ¬πµ‡å §≈Ë◊Õπ∑µË’ “¡‡ âπºà“π∑“ß·¬°

√Ÿª∑’Ë 4.4.3 √ªŸ º—ßÀπàÿ ¬πµå‡§≈ËÕ◊ π∑º’Ë “à π∑“ß·¬°

164 164 √“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬’Àÿàπ¬πµå

aw 132-168 14/1/13, 11:37 PM

√ªŸ ∑’Ë 4.4.3 √ªŸ º—ßÀπàÿ ¬πµ‡å §≈◊ÕË π∑’ºË “à π∑“ß·¬° (µàÕ)

√“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬À’ ÿàπ¬πµå 165

aw 132-168 165 14/1/13, 11:37 PM

µ—«Õ¬à“ß ‚ª√·°√¡∑’Ë 8 Àÿπà ¬πµå‡§≈◊ÕË π∑’µË “¡‡ πâ º“à π∑“ß·¬°

#include <OBECMotors.h> ‡√¬’ °„™â library  ”À√—∫°“√§«∫§¡ÿ ¡Õ‡µÕ√å

#include <LiquidCrystal.h> ‡√¬’ °„™â library  ”À√∫— °“√§«∫§¡ÿ ®Õ· ¥ßº≈·∫∫µ«— Õ°— …√

LiquidCrystal lcd(23, 22, 16, 17, 18, 19); °”Àπ¥¢“ —≠≠“≥¢Õ߮շ ¥ßº≈

RS=23, E=22, D4=16, D5=17, D6=18, D7=19

OBECMotors motors; ª√–°“»µ—«·ª√ ”À√∫— °“√‡√¬’ °„™â library ¢Õß¡Õ‡µÕ√å

int val1=0, val2=0; ª√–°“»µ—«·ª√ val1 ·≈– val2 ·∫∫®”π«π‡µ¡Á °”Àπ¥

§à“‡√‘¡Ë µπâ ‡∑“à °—∫ 0

int threshold1=400, threshold2=400; ª√–°“»µ—«·ª√ ™◊ÕË threshold1 ·≈– threshold2

·∫∫®”π«π‡µ¡Á ‚¥¬°”Àπ¥§à“‡√Ë‘¡µπâ ‡∑“à °—∫ 400

int cline=0; °”À𥵫— ·ª√ ™ËÕ◊ cline ·∫∫®”π«π‡µ¡Á ¡’§“à ‡√¡Ë‘ µπâ = 0

void setup() øíß°å™π—  ”À√∫— °“√°”Àπ¥§“à ‡√¡‘Ë µπâ ¢Õß°“√∑”ß“π

{

lcd.begin(16, 2); °”Àπ¥§“à ‡√‘Ë¡µπâ ¢Õß lcd ·∫∫ 2 ·∂« 16 µ—«Õ°— …√

lcd.print(çHello,OBECûs kité); æ‘¡æå¢âÕ§«“¡ çHello, OBECûs kité

lcd.setCursor(0,1); °”Àπ¥µ”·Àπà߇§Õ√凴Õ√å ∑Ë’ ·∂«∑Ë’ 1 À≈°— ∑’Ë 0

lcd.print(çcline=é); æ‘¡æå¢âÕ§«“¡ çcline=é

lcd.print(cline); æ¡‘ æå§à“∑‡Ë’ °Á∫Õ¬àŸ„πµ—«·ª√ cline

}

void loop() øíß°™å π— À≈°— „π°“√∑”ß“π

{

val1=analogRead(0); Õà“π§“à ‡´πÁ ‡´Õ√·å  ß®“°™àÕß —≠≠“≥Õπ“≈ÁÕ° 0

‡°Á∫‰«â„πµ—«·ª√ val1

val2=analogRead(1); Õ“à π§à“‡´Áπ‡´Õ√·å  ß®“°™àÕß ≠— ≠“≥Õπ“≈ÁÕ° 1

‡°∫Á ‰«â„πµ—«·ª√ val2

if((val1>threshold1) && ∂“â val1 ¡“°°«“à threshold1 ·≈– val2

(val2>threshold2)) ¡“°°«à“ threshold2 „ÀâÀπàÿ ¬πµå‡¥π‘ Àπ“â

{

robot_fw(100,100); ‡√’¬°„™øâ íß°å™π— °“√‡§≈ÕË◊ π∑Ë’‰ª¢â“ßÀπⓥ⫬§«“¡‡√«Á

¡Õ‡µÕ√åµ—«∑Ë’ 1 ‡∑“à °—∫ 100% ·≈–¡Õ‡µÕ√嵫— ∑’Ë 2

෈ҡѺ 100%

}

else if((val1<threshold1) && ∂“â val1 πâÕ¬°«“à threshold1 ·≈– val2 πâÕ¬°«“à

threshold2 „ÀâÀÿàπ¬πµå

166 √“¬ß“π°“√«‘®¬— °“√æ≤— 𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ ÿàπ¬πµå

aw 132-168 166 14/1/13, 11:37 PM

(val2<threshold2)) ‡¥‘πÀπâ“·≈–· ¥ßº≈®”π«π®ÿ¥µ—¥ºà“π®Õ¿“æ·∫∫µ—«Õ°— …√
{
cline++; ‡æ‘Ë¡§“à µ—«·ª√ 1 §√ßÈ— (cline = cline +1)
lcd.setCursor(0,1); °”Àπ¥µ”·Àπà߇§Õ√‡å ´Õ√å ∑Ë’ ·∂«∑Ë’ 1 À≈—°∑’Ë 0
lcd.print(çcline =é); æ‘¡æå çcline =é
lcd.print(cline); æ‘¡æ姓à ∑ˇ’ °∫Á Õ¬Ÿà„πµ—«·ª√ cline
robot_fw(100,100); ‡√¬’ °„™âøíß°™å —π°“√‡§≈ÕË◊ π∑’ˉª¢“â ßÀπâ“¥«â ¬§«“¡‡√«Á
¡Õ‡µÕ√µå «— ∑Ë’ 1 ‡∑“à °∫— 100% ·≈–¡Õ‡µÕ√µå «— ∑Ë’ 2 ‡∑“à °∫— 100%
}
else if((val1>threshold1) && ∂“â val1 ¡“°°«“à threshold1 ·≈– val2 πâÕ¬°«à“
(val2<threshold2)) threshold2 „ÀâÀÿπà ¬πµ‡å ≈È’¬«¢«“
{
robot_tr(); ‡√¬’ °„™øâ ßí °™å —π ”À√—∫‡≈Ȭ’ «¢«“ (À¡ÿπµ“¡‡¢¡Á π“Ãî°“)
delay(100); Àπà«ß‡«≈“ 100 ¡≈‘ ≈‘«π‘ “∑’
}
else if((val1<threshold1) && ∂â“ val1 πâÕ¬°«à“ threshold1 ·≈– val2 ¡“°°«“à
(val2>threshold2)) threshold2 „ÀâÀÿàπ¬πµå‡≈È’¬«´“â ¬
{
robot_tl(); ‡√’¬°„™âøßí °å™—π ”À√∫— ‡≈’Ȭ«´â“¬ (À¡ÿπ∑«π‡¢¡Á π“Ã°î “)
delay(100); Àπ«à ߇«≈“ 100 ¡≈‘ ≈‘«‘π“∑’
}
} øßí °™å π—  ”À√—∫°“√‡§≈Õ◊Ë π∑’ˉª¢â“ßÀπ“â
void robot_fw(int speed1, int speed2)
{ °”Àπ¥„À¡â Õ‡µÕ√åµ—«∑Ë’ 1 À¡πÿ µ“¡‡¢Á¡π“Ãî°“
motors.setM1rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√µå —«∑’Ë 1 À¡ÿπ¥â«¬§«“¡‡√Á«µ“¡
motors.setM1speed(speed1); µ«— ·ª√ speed1
°”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑’Ë 2 À¡πÿ µ“¡‡¢¡Á π“Ã°î “
motors.setM2rotate(CCW); °”Àπ¥„À¡â Õ‡µÕ√µå —«∑’Ë 2 À¡ÿπ¥â«¬§«“¡‡√Á«µ“¡
motors.setM2speed(speed2); µ«— ·ª√ speed2

} øßí °å™π—  ”À√—∫‡≈¬’È «´“â ¬ (À¡πÿ ∑«π‡¢¡Á π“Ã°î “)
void robot_tl()
{ °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 1 À¡ÿπ∑«π‡¢Á¡π“Ãî°“
motors.setM1rotate(CCW); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 1 À¡πÿ ¥«â ¬§«“¡‡√«Á 100%
motors.setM1speed(100);

√“¬ß“π°“√«‘®¬— °“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ πàÿ ¬πµå 167

aw 132-168 167 14/1/13, 11:37 PM

motors.setM2rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√åµ—«∑Ë’ 2 À¡πÿ µ“¡‡¢Á¡π“Ã°î “
motors.setM2speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√µå —«∑’Ë 2 À¡πÿ ¥â«¬§«“¡‡√Á« 100%
}
void robot_tr() øíß°å™π—  ”À√∫— ‡≈’Ȭ«¢«“ (À¡πÿ µ“¡‡¢¡Á π“Ãî°“)
{
motors.setM1rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑’Ë 1 À¡πÿ µ“¡‡¢¡Á π“Ãî°“
motors.setM1speed(100); °”Àπ¥„À¡â Õ‡µÕ√嵫— ∑Ë’ 1 À¡πÿ ¥«â ¬§«“¡‡√«Á 100%
motors.setM2rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√µå —«∑’Ë 2 À¡ÿπµ“¡‡¢¡Á π“Ãî°“
motors.setM2speed(100); °”Àπ¥„À¡â Õ‡µÕ√åµ—«∑’Ë 2 À¡πÿ ¥â«¬§«“¡‡√«Á 100%
}
void robot_stop() øíß°å™—πÀ¬ÿ¥°“√‡§≈ÕË◊ π∑Ë’
{
motors.setM1speed(0); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑’Ë 1 À¬ÿ¥À¡ÿπ
motors.setM2speed(0); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑Ë’ 2 À¬¥ÿ À¡πÿ
}

168 168 √“¬ß“π°“√«®‘ ¬— °“√æ—≤𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬À’ àπÿ ¬πµå

aw 132-168 14/1/13, 11:38 PM

„∫§«“¡√Ÿâ∑’Ë 4.5
°“√‡¢’¬π‚ª√·°√¡§«∫§ÿ¡Àπàÿ ¬πµå‡§≈ÕË◊ π∑À’Ë ≈∫À≈’° Ëß‘ °’¥¢«“ß

°“√§«∫§ÿ¡Àÿàπ¬πµå‡§≈◊ËÕπ∑Ë’À≈∫À≈’° Ë‘ß°’¥¢«“ßæ√âÕ¡°—∫ à߇ ’¬ß∫Í’∫ (beep sound)
· ¥ß„π√Ÿª∑’Ë 4.5.1 ‡√‘Ë¡®“°Àÿàπ¬πµå®–∑”°“√µ√«® Õ∫«—µ∂ÿÀ√◊Õ Ë‘ß°’¥¢«“ß°àÕπ∑’Ë®–‡§≈◊ËÕπ∑’Ë
‡¡◊ËÕÀπàÿ ¬πµåµ√«®æ∫ ‘ßË °’¥¢«“ß„Àâ à߇ ¬’ ß∫Í’∫·≈–∑”°“√À≈—∫À≈’° Ë‘ß°’¥¢«“ß

√ªŸ ∑Ë’ 4.5.1 √ªŸ Àÿπà ¬πµ‡å §≈ÕË◊ π∑’ÀË ≈∫À≈°’  Ë‘ß°’¥¢«“ß

√ªŸ ∑Ë’ 4.5.2 · ¥ß¿“æ√«¡°“√‡™Õ◊Ë ¡¢Õß°“√§«∫§¡ÿ Àπàÿ ¬πµ‡å §≈Õ◊Ë π∑ÀË’ ≈∫À≈°’  ß‘Ë °¥’ ¢«“ß
ª√–°Õ∫‰ª¥«â ¬Õÿª°√≥嵓à ß Ê ¥ß— µàÕ‰ªπ’È ∫—¡‡ªÕ√å «‘µ™å (bumper switch) ‡™◊ÕË ¡µàÕ°—∫∫Õ√å¥
 ¡Õß°≈ OBECûs kit controller board v1.0 ®“°πÈ—π‡™ÕË◊ ¡µàÕ¡Õ‡µÕ√åæ√âÕ¡™¥ÿ ‡øÕó ߢ—∫¡Õ‡µÕ√å
‡¢â“°∫— ∫Õ√奢¬“¬ ≠— ≠“≥¡Õ‡µÕ√å ·≈–‡™Õ◊Ë ¡µàÕ·ºß«ß®√ à߇ ’¬ß∫’∫Í (buzzer) °—∫∫Õ√¥å  ¡Õß°≈
OBECûs kit controller board v1.0

√“¬ß“π°“√«‘®—¬°“√æ≤— 𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬À’ πàÿ ¬πµå 169

aw 169-183 169 14/1/13, 11:38 PM

√ªŸ ∑Ë’ 4.5.2 √ªŸ Ààπÿ ¬πµ‡å §≈ËÕ◊ π∑’ÀË ≈∫À≈’° ‘ßË °’¥¢«“ß

°‘®°√√¡∑Ë’ 1 Àÿπà ¬πµ‡å §≈ÕË◊ π∑ÀË’ ≈∫À≈°’  Ëß‘ °¥’ ¢«“ß

√ªŸ ∑Ë’ 4.5.3 · ¥ßºß— °“√∑”ß“π¢Õß‚ª√·°√¡§«∫§¡ÿ Àπÿà ¬πµ‡å §≈Õ◊Ë π∑ÀË’ ≈∫À≈°’  ß‘Ë °¥’ ¢«“ß
·≈– à߇ ’¬ß∫’Í∫‡¡Ë◊Õ‡®Õ ‘Ëß°’¥¢«“߇√Ë‘¡®“°∑”§«“¡‡¢â“„®º—ß°“√∑”ß“π¢Õß‚ª√·°√¡®“°πÈ—π
∑”°“√‡ªî¥‚ª√·°√¡ arduino ¢È÷π¡“ æ‘¡æ嵓¡µ—«Õ¬à“ß‚ª√·°√¡∑’Ë 9 ·≈⫧ա‰æ≈傪√·°√¡
‡æ◊ËÕµ√«® Õ∫À“¢âÕº¥‘ æ≈“¥¢Õß‚ª√·°√¡∂Ⓣ¡àæ∫¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡ „À∑â ”°“√Õ—æ‚À≈¥
‰ª¬ß— Àπÿà ¬πµå OBECûs Kit v1.0 ®“°πÈπ— π”Àÿπà ¬πµ¡å “«“ß∑’ËæÈπ◊ ·≈«â °¥ª¡Éÿ  «‘µ™‡å ªî¥  ß— ‡°µ°“√
∑”ß“π¢ÕßÀàÿπ¬πµå

170 170 √“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬’Àÿàπ¬πµå

aw 169-183 14/1/13, 11:38 PM

µ«— Õ¬à“ß ºß— °“√∑”ß“π¢Õß‚ª√·°√¡Àπÿà ¬πµ‡å §≈ÕË◊ π∑ËÀ’ ≈∫À≈’° Ë‘ß°’¥¢«“ß

√ªŸ ∑’Ë 4.5.3 √Ÿªºß— Ààπÿ ¬πµ‡å §≈ÕË◊ π∑’ÀË ≈∫À≈’° ‘ßË °¥’ ¢«“ß

√“¬ß“π°“√«®‘ ¬— °“√æ≤— 𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ ÿàπ¬πµå 171

aw 169-183 171 14/1/13, 11:38 PM

√Ÿª∑Ë’ 4.5.3 √Ÿªºß— Ààπÿ ¬πµ‡å §≈ËÕ◊ π∑ËÀ’ ≈∫À≈°’  ßË‘ °’¥¢«“ß (µàÕ)

172 172 √“¬ß“π°“√«‘®—¬°“√æ≤— 𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬’Ààπÿ ¬πµå

aw 169-183 14/1/13, 11:38 PM

µ—«Õ¬“à ß ‚ª√·°√¡∑’Ë 9 Ààπÿ ¬πµ‡å §≈ÕË◊ π∑Ë’À≈∫À≈°’  ß‘Ë °¥’ ¢«“ß

#include <OBECMotors.h> ‡√¬’ °„™â library  ”À√—∫°“√§«∫§ÿ¡¡Õ‡µÕ√å

#include <Switch.h> ‡√’¬°„™â library  ”À√∫— °“√Õ“à π§à“  «µ‘ ™å

OBECMotors motors; ª√–°“»µ«— ·ª√ ”À√∫— ‡√¬’ °„™â library ¢Õß¡Õ‡µÕ√å

Switch sw2(2), sw4(4); ª√–°“»µ«— ·ª√ ”À√∫— ‡√’¬°„™â «‘µ™å µ—«∑’Ë 1 ‡™◊ÕË ¡µÕà °—∫¢“

 —≠≠“≥¥®‘ µ‘ Õ≈ À¡“¬‡≈¢ 2 µ«— ∑’Ë 2 ‡™◊ÕË ¡µàÕ°—∫¢“ ≠— ≠“≥

¥®‘ µ‘ Õ≈À¡“¬‡≈¢ 4

int melodyPin=22; ª√–°“»µ—«·ª√ ”À√—∫·À≈àß°”À𥇠’¬ß (buzzer)

int val1=0, val2=0; ª√–°“»µ—«·ª√ val1 ·≈– val2 ·∫∫®”π«π‡µ¡Á

void setup() øíß°å™π—  ”À√∫— °“√°”Àπ¥§à“‡√Ë¡‘ µπâ ¢Õß°“√∑”ß“π

{

//nothing

}

void loop() øßí °™å —πÀ≈—°„π°“√∑”ß“π

{

val1=sw2.isPressed(); Õà“π§“à  «‘µ™åµ«— ∑Ë’ 1 ‰ª‡°∫Á ‰«â„πµ—«·ª√ val1

val2=sw4.isPressed(); Õ“à π§“à  «‘µ™åµ—«∑Ë’ 2 ‰ª‡°∫Á ‰«â„𵫗 ·ª√ val2

if((val1==true) && (val2==true)) ∂â“ val1 ‡ªπì ®√‘ß ·≈– val2 ‡ªìπ®√ß‘ „À â à߇ ’¬ß∫Í∫’ (beep)

·≈–∂Õ¬À≈ß—

{

tone(melodyPin, 10000, 200); „Àâ à߇ ¬’ ß∫’∫Í ¥«â ¬§«“¡∂’Ë 10kHz ‡ªìπ‡«≈“ 200 ¡‘≈≈«‘ π‘ “∑’

delay(200); Àπ«à ߇«≈“ 200 ¡≈‘ ≈‘«‘π“∑’

noTone(melodyPin); ‰¡¡à ‡’  ¬’ ß

delay(200); Àπ«à ߇«≈“ 200 ¡‘≈≈‘«‘π“∑’

robot_bw(100,100); ‡√¬’ °„™øâ ßí °™å π— °“√‡§≈Õ◊Ë π∑’ˉª∂Õ¬À≈ß— ¥«â ¬§«“¡‡√«Á ¡Õ‡µÕ√µå «— ∑’Ë 1

‡∑“à °∫— 100% ·≈–¡Õ‡µÕ√µå «— ∑Ë’ 2 ‡∑“à °—∫ 100%

}

else if((val1==false) && (val2==false)) ∂“â val1 ‡ªìπ‡∑Á® ·≈– val2 ‡ªπì ‡∑Á® „ÀâÀπÿà ¬πµ‡å ¥π‘ Àπâ“

{

robot_fw(100,100); ‡√¬’ °„™øâ ßí °™å π— °“√‡§≈Õ◊Ë π∑’ˉª¢“â ßÀπ“â ¥«â ¬§«“¡‡√«Á ¡Õ‡µÕ√µå «— ∑’Ë 1

‡∑“à °—∫ 100% ·≈–¡Õ‡µÕ√µå «— ∑Ë’ 2 ‡∑à“°—∫ 100%

}

else if((val1==true) && (val2==false)) ∂â“ val1 ‡ªπì ®√‘ß ·≈– val2 ‡ªπì ‡∑Á® „Àâ ßà ‡ ¬’ ß∫∫Í’ (beep)

·≈–‡≈È’¬«¢«“

√“¬ß“π°“√«‘®—¬°“√æ≤— 𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬À’ ÿπà ¬πµå 173

aw 169-183 173 14/1/13, 11:38 PM

{

tone(melodyPin, 10000, 200); „Àâ ßà ‡ ’¬ß∫Í∫’ ¥«â ¬§«“¡∂Ë’ 10kHz ‡ªìπ‡«≈“ 200 ¡‘≈≈«‘ π‘ “∑’

delay(200); Àπ«à ߇«≈“ 200 ¡≈‘ ≈‘«π‘ “∑’

noTone(melodyPin); ‰¡¡à ‡’  ¬’ ß

delay(200); Àπ«à ߇«≈“ 200 ¡‘≈≈‘«π‘ “∑’

robot_tr(); øíß°å™π—  ”À√∫— ‡≈’¬È «¢«“ (À¡πÿ µ“¡‡¢¡Á π“Ãî°“)

delay(100); Àπà«ß‡«≈“ 100 ¡‘≈≈«‘ ‘π“∑’

}

else if((val1==false) && (val2==true)) ∂â“ val1 ‡ªìπ‡∑®Á ·≈– val2 ‡ªπì ®√ß‘ „À â à߇ ’¬ß∫Í’∫ (beep)

·≈–‡≈¬È’ «´“â ¬

{

tone(melodyPin, 10000, 200); „Àâ à߇ ¬’ ß∫∫Í’ ¥â«¬§«“¡∂’Ë 10kHz ‡ªìπ‡«≈“ 200 ¡≈‘ ≈‘«π‘ “∑’

delay(200); Àπ«à ߇«≈“ 100 ¡‘≈≈‘«π‘ “∑’

noTone(melodyPin); ‰¡¡à ‡’  ¬’ ß

delay(200); Àπà«ß‡«≈“ 100 ¡≈‘ ≈‘«‘π“∑’

robot_tl(); øíß°å™π—  ”À√∫— ‡≈Ȭ’ «´â“¬ (À¡ÿπ∑«π‡¢Á¡π“Ã°î “)

delay(100); Àπ«à ߇«≈“ 100 ¡‘≈≈‘«‘π“∑’

}

}

void robot_fw(int speed1, int speed2) °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑’Ë 2 À¡ÿπ¥â«¬§«“¡‡√Á«µ“¡µ—«·ª√ speed2

{

motors.setM1rotate(CCW); °”Àπ¥„À¡â Õ‡µÕ√µå —«∑Ë’ 1 À¡ÿπ∑«π‡¢¡Á π“Ã°î “

motors.setM1speed(speed1); °”Àπ¥„À¡â Õ‡µÕ√åµ—«∑Ë’ 1 À¡ÿπ¥«â ¬§«“¡‡√Á«µ“¡µ«— ·ª√ speed1

motors.setM2rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑Ë’ 2 À¡ÿπµ“¡‡¢Á¡π“Ã°î “

motors.setM2speed(speed2); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑’Ë 2 À¡ÿπ¥â«¬§«“¡‡√Á«µ“¡µ«— ·ª√ speed2

}

void robot_bw(int speed1, int speed2) °”Àπ¥„À¡â Õ‡µÕ√µå —«∑’Ë 2 À¡πÿ ¥«â ¬§«“¡‡√«Á µ“¡µ«— ·ª√ speed2

{

motors.setM1rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√µå —«∑Ë’ 1 À¡πÿ µ“¡‡¢¡Á π“Ãî°“

motors.setM1speed(speed1); °”Àπ¥„À¡â Õ‡µÕ√µå —«∑Ë’ 1 À¡ÿπ¥«â ¬§«“¡‡√Á«µ“¡µ«— ·ª√ speed1

motors.setM2rotate(CCW); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 2 À¡πÿ ∑«π‡¢¡Á π“Ã°î “

motors.setM2speed(speed2); °”Àπ¥„À¡â Õ‡µÕ√嵫— ∑’Ë 2 À¡πÿ ¥â«¬§«“¡‡√«Á µ“¡µ—«·ª√ speed2

}

void robot_tl() øßí °å™—π ”À√∫— ‡≈È’¬«´â“¬ (À¡ÿπ∑«π‡¢¡Á π“Ãî°“)

{

174 √“¬ß“π°“√«‘®—¬°“√æ—≤𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬’Ààπÿ ¬πµå

aw 169-183 174 14/1/13, 11:38 PM

motors.setM1rotate(CCW); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 1 À¡πÿ ∑«π‡¢Á¡π“Ãî°“
motors.setM1speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑’Ë 1 À¡ÿπ¥«â ¬§«“¡‡√«Á 100%
motors.setM2rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑’Ë 2 À¡πÿ µ“¡‡¢Á¡π“Ã°î “
motors.setM2speed(100); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 2 À¡ÿπ¥â«¬§«“¡‡√«Á 100%
}
void robot_tr() øßí °™å π—  ”À√—∫‡≈’Ȭ«¢«“ (À¡ÿπµ“¡‡¢Á¡π“Ãî°“)
{
motors.setM1rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 1 À¡ÿπµ“¡‡¢Á¡π“Ã°î “
motors.setM1speed(100); °”Àπ¥„À¡â Õ‡µÕ√åµ—«∑’Ë 1 À¡πÿ ¥«â ¬§«“¡‡√Á« 100%
motors.setM2rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 2 À¡πÿ µ“¡‡¢¡Á π“Ãî°“
motors.setM2speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑’Ë 2 À¡ÿπ¥«â ¬§«“¡‡√«Á 100%
}
void robot_stop() øíß°å™π— À¬ÿ¥°“√‡§≈ÕË◊ π∑’Ë
{
motors.setM1speed(0); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑Ë’ 1 À¬¥ÿ À¡πÿ
motors.setM2speed(0); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑Ë’ 2 À¬ÿ¥À¡ÿπ
}

√“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬’Àπàÿ ¬πµå 175

aw 169-183 175 14/1/13, 11:38 PM

„∫§«“¡√â∑Ÿ Ë’ 4.6
°“√‡¢’¬π‚ª√·°√¡§«∫§¡ÿ Àπàÿ ¬πµå‡§≈◊ËÕπ∑’Ë„π‡¢“«ß°µ·≈–µ√«®®∫— Õ≥ÿ À¿¡Ÿ ‘

°“√§«∫§¡ÿ Àπàÿ ¬πµ‡å §≈Õ◊Ë π∑’Ë„π‡¢“«ß°µ·≈–µ√«®®∫— Õ≥ÿ À¿¡Ÿ √‘ –À«“à ß°“√‡§≈ÕË◊ π∑·Ë’  ¥ß
„π√Ÿª∑’Ë 4.6.1 ≈—°…≥–°“√∑”ß“π¢ÕßÀàÿπ¬πµå®–‡§≈◊ËÕπ∑’ˉª„π‡¢“«ß°µ·≈–Õà“π§à“Õÿ≥À¿Ÿ¡‘·≈â«
∑”°“√ª√–¡«≈º≈«à“Õÿ≥À¿Ÿ¡‘∑’˪√“°Ø¡’§à“‡∑à“‰√¥â«¬°“√· ¥ßº≈ºà“π∑“߉¥‚Õ¥‡ª≈àß· ß·≈–
 à߇ ’¬ß‡¡ËÕ◊ Õ≥ÿ À¿Ÿ¡‘∑ËÕ’ “à π‰¥â‡°‘π¢’¥Õπ— µ√“¬

√ªŸ ∑’Ë 4.6.1 √ªŸ Àÿπà ¬πµ‡å §≈◊ÕË π∑˵’ √«®®∫— Õ≥ÿ À¿¡Ÿ ‘

«‘∏’°“√‡¥π‘ µ“¡ºπß— (wall following algorithm)
1. ∂Ⓡ´πÁ ‡´Õ√å (∫¡— ‡ªÕ√å «µ‘ ™å (bumper switch)) ¥â“π´“â ¬¢ÕßÀàπÿ ¬πµµå √«® Õ∫

‡®Õºπß— ·≈–‡´Áπ‡´Õ√å¥â“πÀπ“â ‰¡à‡®Õºπ—ß„ÀâÀàÿπ¬πµå‡§≈◊ËÕπ∑Ë’‰ª¢“â ßÀπ“â

176 176 √“¬ß“π°“√«®‘ ¬— °“√æ—≤𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬’Ààπÿ ¬πµå

aw 169-183 14/1/13, 11:38 PM

2. ∂Ⓡ´Áπ‡´Õ√å (∫—¡‡ªÕ√ å «‘µ™å (bumper switch)) ¥“â π´â“¬¢ÕßÀπàÿ ¬πµµå √«® Õ∫
‡®Õºπß— ·≈–‡´πÁ ‡´Õ√¥å â“πÀπ“â ‡®Õºπ—ß∑È—ß Õߥâ“π „ÀâÀπàÿ ¬πµ‡å ≈È’¬«¢«“

3. ∂“â ‡´Áπ‡´Õ√å (∫¡— ‡ªÕ√ å «µ‘ ™å (bumper switch)) ¥â“π´â“¬¢ÕßÀàÿπ¬πµåµ√«® Õ∫
‰¡‡à ®Õºπ—ß ·≈–‡´πÁ ‡´Õ√¥å â“πÀπ“â ‰¡à‡®Õºπß— ∑È—ß Õߥâ“π „ÀâÀπàÿ ¬πµå‡≈’Ȭ«´“â ¬

√Ÿª∑Ë’ 4.6.2 · ¥ß¿“æ√«¡°“√‡™◊ËÕ¡¢ÕßÀÿàπ¬πµå‡§≈◊ËÕπ∑’Ë„π‡¢“«ß°µ·≈–µ√«®®—∫
Õÿ≥À¿Ÿ¡‘√–À«à“ß°“√‡§≈Ë◊Õπ∑’˪√–°Õ∫‰ª¥â«¬Õÿª°√≥åµà“ßÊ ¥—ßµàÕ‰ªπÈ’ ∫—¡‡ªÕ√å «‘µ™å (bumper
switch) ‡™Ë◊Õ¡µàÕ°—∫∫Õ√奠¡Õß°≈ OBECûs kit controller board v1.0 ®“°πÈ—π‡™Ë◊Õ¡µàÕ
¡Õ‡µÕ√æå √Õâ ¡™¥ÿ ‡øÕó ߢ∫— ¡Õ‡µÕ√‡å ¢“â °∫— ∫Õ√¥å ¢¬“¬ ≠— ≠“≥¡Õ‡µÕ√‡å ™Õ◊Ë ¡µÕà ·ºß«ß®√ ßà ‡ ¬’ ß∫∫’Í
(buzzer) ·≈–‰¥‚Õ¥‡ª≈àß· ß ’·¥ß  ’‡¢’¬« ·≈– ’π”È ‡ß‘π°—∫∫Õ√奠¡Õß°≈ OBECûs kit
controller board v1.0

√“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬À’ ÿàπ¬πµå 177

aw 169-183 177 14/1/13, 11:38 PM

√ªŸ ∑’Ë 4.6.2 Ààπÿ ¬πµ‡å §≈Ë◊Õπ∑’Ë„π‡¢“«ß°µ·≈–µ√«®®∫— Õ≥ÿ À¿Ÿ¡‘

°®‘ °√√¡∑’Ë 1 Àÿπà ¬πµ‡å §≈Ë◊Õπ∑Ë’„π‡¢“«ß°µ·≈–µ√«®®—∫Õ≥ÿ À¿Ÿ¡‘
√ªŸ ∑Ë’ 4.6.3 · ¥ßº—ß°“√∑”ß“π¢Õß‚ª√·°√¡§«∫§ÿ¡Àπàÿ ¬πµå‡§≈ËÕ◊ π∑’Ë„π‡¢“«ß°µ·≈–

µ√«®®—∫Õÿ≥À¿Ÿ¡‘ À≈—ß®“°∑”§«“¡‡¢â“„®º—ß°“√∑”ß“π¢Õß‚ª√·°√¡·≈â«∑”°“√‡ªî¥‚ª√·°√¡
arduino ¢È÷π¡“ æ‘¡æ嵓¡µ—«Õ¬à“ß‚ª√·°√¡∑’Ë 10 ®“°π—Èπ§Õ¡‰æ≈傪√·°√¡‡æË◊Õµ√«® Õ∫À“
¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡∂Ⓣ¡àæ∫¢âÕº‘¥æ≈“¥¢Õß‚ª√·°√¡ „Àâ∑”°“√Õ—æ‚À≈¥‰ª¬—ßÀÿàπ¬πµå
OBECûs Kit ®“°π—Èππ”Àÿàπ¬πµå¡“«“ß„π‡¢“«ß°µ·≈â«°¥ªÉÿ¡ «‘µ™å‡ªî¥  —߇°µ°“√∑”ß“π
¢ÕßÀπÿà ¬πµå

178 178 √“¬ß“π°“√«‘®¬— °“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬À’ πÿà ¬πµå

aw 169-183 14/1/13, 11:38 PM

µ«— Õ¬“à ß ºß— °“√∑”ß“π¢Õß‚ª√·°√¡Àπàÿ ¬πµ‡å §≈Õ◊Ë π∑’Ë„π‡¢“«ß°µ·≈–µ√«®®∫— Õ≥ÿ À¿¡Ÿ ‘

√ªŸ ∑’Ë 4.6.3 √ªŸ º—ßÀÿπà ¬πµå‡§≈Õ◊Ë π∑Ë’µ√«®®∫— Õÿ≥À¿Ÿ¡‘

√“¬ß“π°“√«®‘ ¬— °“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬À’ ÿπà ¬πµå 179

aw 169-183 179 14/1/13, 11:39 PM

√ªŸ ∑Ë’ 4.6.3 √ªŸ ºß— Àπÿà ¬πµå‡§≈ËÕ◊ π∑Ë’µ√«®®—∫Õ≥ÿ À¿¡Ÿ ‘ (µàÕ)

µ«— Õ¬à“ß ‚ª√·°√¡∑Ë’ 10 Ààπÿ ¬πµå‡§≈ËÕ◊ π∑µË’ √«®®∫— Õ≥ÿ À¿Ÿ¡‘

#include <OBECMotors.h> ‡√’¬°„™â library  ”À√—∫°“√§«∫§¡ÿ ¡Õ‡µÕ√å
#include <Thermistor.h> ‡√¬’ °„™â library  ”À√—∫Õ“à π§“à Õ≥ÿ À¿Ÿ¡‘
#include <Switch.h> ‡√¬’ °„™â library  ”À√∫— °“√Õà“π§“à  «‘µ™å
#include <LED.h> ‡√¬’ °„™â library  ”À√∫— §«∫§¡ÿ ‰¥‚Õ¥‡ª≈àß· ß
OBECMotors motors; ª√–°“»µ—«·ª√ ”À√∫— ‡√’¬°„™â library ¡Õ‡µÕ√å
Thermistor temp(2); ª√–°“»µ—«·ª√ ”À√∫— ‡√’¬°„™‡â ´πÁ ‡´Õ√«å —¥Õÿ≥À¿Ÿ¡‘
‡™◊ËÕ¡µàÕ°—∫¢“ —≠≠“≥Õπ“≈ÁÕ°À¡“¬‡≈¢ 2
Switch sw2(2), sw4(4); ª√–°“»µ—«·ª√ ”À√∫— ‡√’¬°„™ â «µ‘ ™å µ—«∑Ë’ 1 ‡™Ë◊Õ¡µàÕ°—∫¢“
 —≠≠“≥¥®‘ ‘µÕ≈ À¡“¬‡≈¢ 2 µ—«∑’Ë 2 ‡™Õ◊Ë ¡µàÕ°∫— ¢“
LED red(16), green(17), blue(18);  —≠≠“≥¥®‘ ‘µÕ≈ À¡“¬‡≈¢ 4
ª√–°“»µ—«·ª√ ”À√∫— ‡√¬’ °„™â LED µ«— ∑’Ë 1 ‡™ËÕ◊ ¡µÕà °∫— ¢“
int melodyPin=22;  ≠— ≠“≥¥‘®µ‘ Õ≈ À¡“¬‡≈¢ 16 µ«— ∑Ë’ 2 ‡™◊ËÕ¡µàÕ°∫— ¢“
 ≠— ≠“≥¥‘®µ‘ Õ≈ À¡“¬‡≈¢ 17 µ«— ∑’Ë 3 ‡™◊ËÕ¡µÕà °—∫¢“
 ≠— ≠“≥¥‘®µ‘ Õ≈ À¡“¬‡≈¢ 18
ª√–°“»µ—«·ª√ ”À√∫— ·À≈ßà °”À𥇠’¬ß (buzzer)

180 √“¬ß“π°“√«‘®¬— °“√æ≤— 𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬’Ààÿπ¬πµå

aw 169-183 180 14/1/13, 11:39 PM

double tempC; ª√–°“»µ«— ·ª√ tempC ·∫∫∑»π‘¬¡

int val1=0, val2=0; ª√–°“»µ—«·ª√ val1 ·≈– val2 ·∫∫®”π«π‡µ¡Á

void setup() øíß°å™—π ”À√—∫°“√°”Àπ¥§à“‡√‘Ë¡µâπ¢Õß°“√∑”ß“π

{

// noting

}

void loop() øßí °™å π— À≈—°„π°“√∑”ß“π

{

tempC = temp.getCelciusValue(); Õà“π§“à ‡´Áπ‡´Õ√Õå ÿ≥À¿Ÿ¡‘‡°∫Á ‰«â„𵫗 ·ª√ tempC

analyze_temperature(tempC); ‡√’¬°øíß°å™π— «‘‡§√“–ÀÕå ÿ≥À¿¡Ÿ ‘

val1=sw2.isPressed(); Õ“à π§à“ «‘µ™å µ«— ∑’Ë 1 ‰ª‡°Á∫‰«â„𵫗 ·ª√ val1

val2=sw4.isPressed(); Õà“π§“à  «‘µ™å µ«— ∑’Ë 2 ‰ª‡°∫Á ‰«â„πµ—«·ª√ val2

if((val1==false) && (val2==true)) ∂â“ val1 ‡ªπì ‡∑Á® ·≈– val2 ‡ªπì ®√ß‘ „ÀâÀàÿπ¬πµå‡¥π‘ Àπâ“

{

robot_fw(100,100); ‡√¬’ °„™øâ ßí °™å π— °“√‡§≈Ë◊Õπ∑’ˉª¢“â ßÀπ“⠥⫬§«“¡‡√«Á

¡Õ‡µÕ√µå «— ∑1Ë’ ‡∑“à °∫— 100% ·≈–¡Õ‡µÕ√µå «— ∑’Ë 2 ‡∑“à °∫— 100%

}

else if((val1==false) && (val2==false)) ∂â“ val1 ‡ªìπ‡∑Á® ·≈– val2 ‡ªπì ‡∑Á® „ÀâÀÿπà ¬πµå‡≈Ȭ’ «¢«“

{

robot_tr(); øßí °™å π—  ”À√∫— ‡≈’Ȭ«¢«“ (À¡πÿ µ“¡‡¢¡Á π“Ã°î “)

delay(100); Àπ«à ߇«≈“ 100 ¡‘≈≈‘«π‘ “∑’

}

else if((val1==true) && (val2==true)) ∂â“ val1 ‡ªìπ®√‘ß ·≈– val2 ‡ªπì ®√‘ß „ÀâÀÿπà ¬πµ‡å ≈È’¬«´“â ¬

{

robot_tl(); ‡√¬’ °„™âøíß°å™π—  ”À√∫— ‡≈¬È’ «´â“¬ (À¡ÿπ∑«π‡¢¡Á π“Ãî°“)

delay(100); Àπ«à ߇«≈“ 100 ¡≈‘ ≈‘«‘π“∑’

}

else if((val1==true) && (val2==false)) ∂â“ val1 ‡ªìπ®√ß‘ ·≈– val2 ‡ªπì ‡∑®Á „ÀÀâ ÿàπ¬πµå‡≈’¬È «¢«“

{

robot_tr(); ‡√¬’ °„™øâ íß°å™π—  ”À√—∫‡≈È’¬«¢«“ (À¡ÿπµ“¡‡¢Á¡π“Ã°î “)

delay(100); Àπà«ß‡«≈“ 100 ¡‘≈≈«‘ π‘ “∑’

}

}

void analyze_temperature(double temp) øßí °™å —π∑’Ë„™â„π°“√«‡‘ §√“–Àå Õÿ≥À¿Ÿ¡‘

{

√“¬ß“π°“√«‘®¬— °“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ πÿà ¬πµå 181

aw 169-183 181 14/1/13, 11:39 PM

if(temp<20) ∂â“Õÿ≥À¿Ÿ¡‘ πâÕ¬°«à“ 20 Õß»“‡´≈‡´’¬  „Àâ‰ø ’πÈ”‡ß‘𵥑
{
red.off(); ‰ø ·’ ¥ß¥∫—
green.off(); ‰ø ‡’ ¢¬’ «¥—∫
blue.on(); ‰ø ’πÈ”‡ß‘𵑥
}
else if(temp<40) ∂“â Õ≥ÿ À¿Ÿ¡‘ πÕâ ¬°«à“ 40 Õß»“‡´≈‡´’¬ ‰ø ’‡¢¬’ «µ¥‘
{
red.off(); ‰ø ’·¥ß¥∫—
green.on(); ‰ø ’‡¢’¬«µ‘¥
blue.off(); ‰ø π’ ”È ‡ßπ‘ ¥∫—
}
else if(temp<60) ∂“â Õÿ≥À¿¡Ÿ ‘ πÕâ ¬°«“à 60 Õß»“‡´≈‡´’¬ ‰ø ·’ ¥ßµ‘¥
{
red.on(); ‰ø ’·¥ßµ‘¥
green.off(); ‰ø ’‡¢¬’ «¥—∫
blue.off(); ‰ø π’ È”‡ßπ‘ ¥∫—
}
else ∂ⓇßË◊Õπ‰¢‰¡à∂Ÿ°µÕâ ß
{
red.on(); ‰ø ’·¥ßµ‘¥
green.off(); ‰ø ’‡¢’¬«¥∫—
blue.off(); ‰ø π’ ”È ‡ßπ‘ ¥∫—
tone(melodyPin,1000,200); „À â à߇ ’¬ß∫’∫Í (beep) ¥â«¬§«“¡∂Ë’ 10kHz
‡ªìπ‡«≈“ 200 ¡‘≈≈«‘ ‘π“∑’
delay(200); Àπà«ß‡«≈“ 200 ¡‘≈≈«‘ π‘ “∑’
noTone(melodyPin); ‰¡¡à ‡’  ¬’ ß
delay(200); Àπà«ß‡«≈“ 200 ¡‘≈≈‘«‘π“∑’
}
} øßí °å™π—  ”À√—∫°“√‡§≈◊ËÕπ∑’ˉª¢â“ßÀπâ“
void robot_fw(int speed1, int speed2)
{ °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑Ë’ 1 À¡πÿ ∑«π‡¢Á¡π“Ãî°“
motors.setM1rotate(CCW); °”Àπ¥„Àâ¡Õ‡µÕ√µå —«∑Ë’ 1 À¡πÿ ¥«â ¬§«“¡‡√«Á µ“¡
motors.setM1speed(speed1); µ—«·ª√ speed1

182 √“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬’Àÿàπ¬πµå

aw 169-183 182 14/1/13, 11:39 PM

motors.setM2rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√µå —«∑’Ë 2 À¡πÿ µ“¡‡¢Á¡π“Ã°î “
motors.setM2speed(speed2); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑’Ë 2 À¡ÿπ¥«â ¬§«“¡‡√«Á µ“¡
µ—«·ª√ speed2
}
void robot_tl() øíß°å™—π ”À√∫— ‡≈¬’È «´â“¬ (À¡ÿπ∑«π‡¢Á¡π“Ã°î “)
{
motors.setM1rotate(CW); °”Àπ¥„À¡â Õ‡µÕ√åµ—«∑’Ë 1 À¡πÿ µ“¡‡¢¡Á π“Ã°î “
motors.setM1speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑’Ë 1 À¡πÿ ¥â«¬§«“¡‡√Á« 100%
motors.setM2rotate(CW); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑Ë’ 2 À¡ÿπµ“¡‡¢¡Á π“Ãî°“
motors.setM2speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑Ë’ 2 À¡πÿ ¥«â ¬§«“¡‡√Á« 100%
}
void robot_tr() øíß°å™—π ”À√—∫‡≈¬’È «¢«“ (À¡ÿπµ“¡‡¢Á¡π“Ã°î “)
{
motors.setM1rotate(CCW); °”Àπ¥„À¡â Õ‡µÕ√åµ—«∑’Ë 1 À¡πÿ ∑«π‡¢¡Á π“Ãî°“
motors.setM1speed(100); °”Àπ¥„Àâ¡Õ‡µÕ√åµ—«∑’Ë 1 À¡ÿπ¥â«¬§«“¡‡√Á« 100%
motors.setM2rotate(CCW); °”Àπ¥„Àâ¡Õ‡µÕ√µå «— ∑’Ë 2 À¡ÿπ∑«π‡¢Á¡π“Ã°î “
motors.setM2speed(100); °”Àπ¥„À¡â Õ‡µÕ√µå «— ∑’Ë 2 À¡πÿ ¥«â ¬§«“¡‡√«Á 100%
}
void robot_stop() øßí °™å —πÀ¬ÿ¥°“√‡§≈Õ◊Ë π∑Ë’
{
motors.setM1speed(0); °”Àπ¥„À¡â Õ‡µÕ√µå —«∑’Ë 1 À¬¥ÿ À¡πÿ
motors.setM2speed(0); °”Àπ¥„Àâ¡Õ‡µÕ√嵫— ∑’Ë 2 À¬ÿ¥À¡πÿ
}

√“¬ß“π°“√«‘®—¬°“√æ—≤𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬À’ πàÿ ¬πµå 183

aw 169-183 183 14/1/13, 11:39 PM

„∫ß“π∑’Ë 4.1
‡√Õ◊Ë ß °“√‡¢¬’ π‚ª√·°√¡§«∫§¡ÿ Àÿàπ¬πµ‡å §≈Õ◊Ë π∑’ˉª¢“â ßÀπâ“-∂Õ¬À≈ß—

 ¡“™°‘ „π°≈ÿ¡à
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·’È ®ß „Àπâ —°‡√¬’ π·µà≈–°≈ÿà¡»°÷ …“„∫§«“¡√∑Ÿâ ’Ë 4.1 ·≈–√à«¡°π— ªØ∫‘ µ— ß‘ “πµ“¡À—«¢Õâ µÕà ‰ªπÈ’
1. „Àπâ °— ‡√¬’ π‡¢¬’ π‚ª√·°√¡µ“¡°®‘ °√√¡∑’Ë 1 ‡√ÕË◊ ß °“√‡§≈Õ◊Ë π∑’ˉª¢“â ßÀπ“â -∂Õ¬À≈ß—
2.  √ÿªº≈°“√‡¢¬’ π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢âÕ‡ πÕ·π–‡æ¡Ë‘ ‡µ‘¡
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184 √“¬ß“π°“√«‘®¬— °“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ àπÿ ¬πµå

aw 184-215 184 14/1/13, 11:39 PM

„∫ß“π∑Ë’ 4.2
‡√ËÕ◊ ß °“√‡¢¬’ π‚ª√·°√¡§«∫§ÿ¡Ààπÿ ¬πµå‡§≈Õ◊Ë π∑Ë’‚§ßâ µ—«‡Õ 

 ¡“™‘°„π°≈à¡ÿ
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·È’ ®ß „Àπâ °— ‡√’¬π·µ≈à –°≈àÿ¡»÷°…“„∫§«“¡√Ÿâ∑’Ë 4.1 ·≈–√«à ¡°—πªØ∫‘ µ— ‘ß“πµ“¡À—«¢Õâ µàÕ‰ªπÈ’
1. „Àπâ °— ‡√’¬π‡¢’¬π‚ª√·°√¡µ“¡°‘®°√√¡∑Ë’ 2 ‡√ÕË◊ ß °“√‡§≈ÕË◊ π∑’Ë‚§âßµ«— ‡Õ 
2.  √ÿªº≈°“√‡¢¬’ π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢Õâ ‡ πÕ·π–‡æË¡‘ ‡µ‘¡
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√“¬ß“π°“√«®‘ —¬°“√æ—≤𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬À’ ÿπà ¬πµå 185

aw 184-215 185 14/1/13, 11:39 PM

„∫ß“π∑’Ë 4.3
‡√◊ËÕß °“√‡¢’¬π‚ª√·°√¡§«∫§¡ÿ Àπÿà ¬πµ‡å §≈ÕË◊ π∑‡’Ë ªìπ√Ÿª Ë’‡À≈¬’Ë ¡

 ¡“™°‘ „π°≈à¡ÿ
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·È’ ®ß „Àâπ°— ‡√’¬π·µà≈–°≈ÿ¡à »÷°…“„∫§«“¡√Ÿâ∑Ë’ 4.1 ·≈–√à«¡°π— ªØ∫‘ µ— ‘ß“πµ“¡À«— ¢âÕµÕà ‰ªπÈ’
1. „Àπâ —°‡√’¬π‡¢’¬π‚ª√·°√¡µ“¡°®‘ °√√¡∑Ë’ 3 ‡√◊ÕË ß °“√‡§≈◊ËÕπ∑Ë’‡ªπì √ªŸ  ‡’Ë À≈¬’Ë ¡
2.  √ÿªº≈°“√‡¢¬’ π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢âÕ‡ πÕ·π–‡æË¡‘ ‡µ¡‘
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186 √“¬ß“π°“√«‘®¬— °“√æ—≤𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬À’ πÿà ¬πµå

aw 184-215 186 14/1/13, 11:39 PM

„∫ß“π∑Ë’ 4.4
‡√◊ËÕß °“√‡¢’¬π‚ª√·°√¡§«∫§ÿ¡Àÿπà ¬πµ å ”À√∫— Õà“π§à“°“√ –∑Õâ π· ß¢Õ߇ âπ

 ¡“™°‘ „π°≈à¡ÿ
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·È’ ®ß „Àâπ—°‡√¬’ π·µ≈à –°≈àÿ¡»°÷ …“„∫§«“¡√∑⟠˒ 4.2 ·≈–√à«¡°π— ªØ∫‘ —µ‘ß“πµ“¡À—«¢Õâ µàÕ‰ªπÈ’
1. „Àâπ°— ‡√¬’ π‡¢¬’ π‚ª√·°√¡µ“¡°‘®°√√¡∑’Ë 1 ‡√◊ÕË ß °“√Õà“π§à“‡´πÁ ‡´Õ√å· ß
2.  √ªÿ º≈°“√‡¢¬’ π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢âÕ‡ πÕ·π–‡æ¡Ë‘ ‡µ‘¡
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√“¬ß“π°“√«‘®¬— °“√æ—≤𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬’Ààπÿ ¬πµå 187

aw 184-215 187 14/1/13, 11:39 PM

„∫ß“π∑Ë’ 4.5
‡√ÕË◊ ß °“√‡¢’¬π‚ª√·°√¡§«∫§¡ÿ Àÿàπ¬πµå‡§≈Ë◊Õπ∑µ’Ë “¡‡ âπ

 ¡“™‘°„π°≈¡àÿ
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·È’ ®ß „Àπâ °— ‡√¬’ π·µà≈–°≈à¡ÿ »°÷ …“„∫§«“¡√âŸ∑’Ë 4.2 ·≈–√à«¡°π— ªØ‘∫—µß‘ “πµ“¡À«— ¢âÕµÕà ‰ªπ’È
1. „Àâπ°— ‡√’¬π‡¢¬’ π‚ª√·°√¡µ“¡°‘®°√√¡∑’Ë 2 ‡√Õ◊Ë ß °“√‡§≈◊ËÕπ∑Ë’µ“¡‡ âπ
2.  √ÿªº≈°“√‡¢¬’ π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢Õâ ‡ πÕ·π–‡æ‘Ë¡‡µ¡‘
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188 √“¬ß“π°“√«®‘ ¬— °“√æ—≤𓇥°Á ‰∑¬¥“â π‡∑§‚π‚≈¬’Àÿπà ¬πµå

aw 184-215 188 14/1/13, 11:39 PM

„∫ß“π∑Ë’ 4.6
‡√ÕË◊ ß °“√‡¢¬’ π‚ª√·°√¡§«∫§ÿ¡Ààÿπ¬πµå ”À√∫— Õ“à π§à“°“√ –∑âÕπ· ß¢Õ߇ âπ

 ¡“™‘°„π°≈¡àÿ
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·È’ ®ß „Àπâ °— ‡√’¬π·µ≈à –°≈¡ÿà »°÷ …“„∫§«“¡√Ÿ∑â Ë’ 4.3 ·≈–√à«¡°π— ªØ‘∫µ— ß‘ “πµ“¡À«— ¢Õâ µàÕ‰ªπ’È
1. „Àâπ—°‡√’¬π‡¢’¬π‚ª√·°√¡µ“¡°‘®°√√¡∑’Ë 1 ‡√◊ËÕß §«∫§ÿ≥Àÿàπ¬πµå ”À√—∫Õà“π§à“

°“√ –∑Õâ π· ß¢Õ߇ πâ
2.  √ªÿ º≈°“√‡¢¬’ π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢âÕ‡ πÕ·π–‡æ‘Ë¡‡µ‘¡
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√“¬ß“π°“√«‘®—¬°“√æ≤— 𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬À’ πÿà ¬πµå 189

aw 184-215 189 14/1/13, 11:39 PM

„∫ß“π∑Ë’ 4.7
‡√◊ÕË ß °“√‡¢’¬π‚ª√·°√¡§«∫§¡ÿ Àÿπà ¬πµ‡å §≈Õ◊Ë π∑µË’ “¡‡ âπ

 ¡“™‘°„π°≈¡àÿ
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·’È ®ß „Àπâ °— ‡√’¬π·µ≈à –°≈à¡ÿ »÷°…“„∫§«“¡√Ÿ∑â ’Ë 4.3 ·≈–√à«¡°—πªØ∫‘ µ— ß‘ “πµ“¡À«— ¢Õâ µàÕ‰ªπÈ’
1. „Àâπ—°‡√¬’ π‡¢’¬π‚ª√·°√¡µ“¡°‘®°√√¡∑’Ë 2 ‡√ËÕ◊ ß Ààÿπ¬πµ‡å §≈Ë◊Õπ∑Ë’µ“¡‡ âπ
2.  √ÿªº≈°“√‡¢’¬π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢âÕ‡ πÕ·π–‡æ¡‘Ë ‡µ‘¡
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190 √“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬’Àÿàπ¬πµå

aw 184-215 190 14/1/13, 11:40 PM

„∫ß“π∑Ë’ 4.8
‡√ÕË◊ ß °“√‡¢’¬π‚ª√·°√¡§«∫§ÿ¡Ààπÿ ¬πµå‡§≈◊ÕË π∑ºË’ “à π∑“ß·¬°

 ¡“™°‘ „π°≈¡ÿà
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·È’ ®ß „Àâπ—°‡√¬’ π·µ≈à –°≈ÿ¡à »÷°…“„∫§«“¡√Ÿ∑â Ë’ 4.4 ·≈–√à«¡°—πªØ∫‘ µ— ß‘ “πµ“¡À«— ¢âÕµàÕ‰ªπÈ’
1. „Àπâ —°‡√’¬π‡¢¬’ π‚ª√·°√¡µ“¡°®‘ °√√¡∑Ë’ 1 ‡√ÕË◊ ß Àπàÿ ¬πµ‡å §≈◊ËÕ∑Ë’ºà“π∑“ß·¬°
2.  √ªÿ º≈°“√‡¢¬’ π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢Õâ ‡ πÕ·π–‡æË¡‘ ‡µ¡‘
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√“¬ß“π°“√«®‘ ¬— °“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬À’ πÿà ¬πµå 191

aw 184-215 191 14/1/13, 11:40 PM

„∫ß“π∑Ë’ 4.9
‡√ËÕ◊ ß °“√‡¢¬’ π‚ª√·°√¡§«∫§ÿ¡Àÿπà ¬πµå‡§≈ÕË◊ π∑’ÀË ≈∫À≈°’  Ëß‘ °’¥¢«“ß

 ¡“™°‘ „π°≈à¡ÿ
1. ......................................................................................................................................
2. ......................................................................................................................................
3. ......................................................................................................................................

§”™·È’ ®ß „Àπâ —°‡√¬’ π·µà≈–°≈ÿ¡à »°÷ …“„∫§«“¡√Ÿâ∑Ë’ 4.5 ·≈–√à«¡°π— ªØ∫‘ —µß‘ “πµ“¡À«— ¢Õâ µÕà ‰ªπÈ’
1. „Àâπ—°‡√’¬π‡¢’¬π‚ª√·°√¡µ“¡°‘®°√√¡∑Ë’ 1 ‡√◊ËÕß Ààÿπ¬πµå‡§≈Ë◊Õπ∑’ËÀ≈∫À≈’°

 ß‘Ë °¥’ ¢«“ß
2.  √ÿªº≈°“√‡¢’¬π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢Õâ ‡ πÕ·π–‡æ‘Ë¡‡µ‘¡
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192 √“¬ß“π°“√«®‘ —¬°“√æ≤— 𓇥Á°‰∑¬¥“â π‡∑§‚π‚≈¬’Àÿπà ¬πµå

aw 184-215 192 14/1/13, 11:40 PM

„∫ß“π∑Ë’ 4.10
‡√Ë◊Õß °“√‡¢’¬π‚ª√·°√¡§«∫§ÿ¡Ààπÿ ¬πµµå √«®®∫— Õ≥ÿ À¿Ÿ¡‘

 ¡“™°‘ „π°≈ÿ¡à
1. ......................................................................................................................................
2. ......................................................................................................................................
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§”™·È’ ®ß „Àâπ—°‡√¬’ π·µ≈à –°≈¡ÿà »÷°…“„∫§«“¡√Ÿâ∑Ë’ 4.6 ·≈–√«à ¡°π— ªØ‘∫µ— ß‘ “πµ“¡À—«¢Õâ µàÕ‰ªπÈ’
1. „Àâπ—°‡√¬’ π‡¢¬’ π‚ª√·°√¡µ“¡°®‘ °√√¡∑Ë’ 1 ‡√Ë◊Õß Àπÿà ¬πµµå √«®®∫— Õ≥ÿ À¿¡Ÿ ‘
2.  √ªÿ º≈°“√‡¢’¬π‚ª√·°√¡

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3. ªí≠À“-Õÿª √√§
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4. ¢âÕ‡ πÕ·π–‡æ¡Ë‘ ‡µ¡‘
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√“¬ß“π°“√«‘®¬— °“√æ—≤𓇥°Á ‰∑¬¥â“π‡∑§‚π‚≈¬’Àπÿà ¬πµå 193

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Àπ«à ¬∑’Ë 5
°“√ª√–¬ÿ°µå„™âß“π

º≈°“√‡√’¬π√Ÿâ

1. ∫Õ°§«“¡À¡“¬·≈–§≥ÿ §“à ¢Õß°“√∑”‚§√ßß“πÀπàÿ ¬πµÕå —µ‚π¡µ— ‘
2. ∫Õ°ª√–‡¿∑¢Õß‚§√ßß“πÀπàÿ ¬πµÕå —µ‚π¡—µ‘
3. ∫Õ°«∏‘ ’¥”‡π‘π°“√∑”‚§√ßß“πÀÿàπ¬πµÕå —µ‚π¡µ— ‘

‡π◊ÈÕÀ“ “√–

°“√æ—≤𓂧√ßß“πÀàπÿ ¬πµåÕµ— ‚π¡—µ‘‚¥¬„™â™¥ÿ Àÿàπ¬πµå OBECûs Kit

°‘®°√√¡°“√‡√’¬π√Ÿâ

1. ·∫ßà °≈¡àÿ π°— ‡√¬’ π°≈¡àÿ ≈– 3-5 §π
2. ·®°„∫§«“¡√âŸ∑’Ë 5.1 ‡√◊ËÕß °“√æ—≤𓂧√ßß“πÀàÿπ¬πµåÕ—µ‚π¡—µ‘·≈–„∫ß“π∑Ë’ 5.1
‡√◊ËÕß «“ß·ºπæ—≤𓂧√ßß“πÀàπÿ ¬πµÕå —µ‚π¡µ— „‘ Àâπ—°‡√’¬π·µà≈–°≈ÿà¡»÷°…“„∫§«“¡√⟠·≈â«√à«¡°π—
∑”„∫ß“π§√„Ÿ À§â ”·π–π”·≈–µÕ∫¢Õâ ´—°∂“¡∑‡Ë’ √¬’ π ß ¬—
3. ·®°„∫ß“π∑Ë’ 5.2 ‡√Ë◊Õß  √ÿªº≈°“√æ—≤𓂧√ßß“πÀÿàπ¬πµåÕ—µ‚π¡—µ‘„Àâπ—°‡√’¬π
¥”‡ππ‘ °“√®¥— ∑”‚§√ßß“πµ“¡·ºπ∑«’Ë “߉«â„À‡â  √®Á µ“¡°”À𥇫≈“·≈– √ªÿ º≈µ“¡À«— ¢Õâ „π„∫ß“π
4. „Àâπ—°‡√’¬π𔇠πÕÀ√◊Õ “∏‘µ°“√∑”ß“π¢Õߙȑπß“π·≈–µÕ∫¢âÕ´—°∂“¡ π—°‡√’¬π
°≈¡àÿ ÕËπ◊ ª√–‡¡‘πº≈µ“¡À—«¢âÕ„π„∫ß“π∑Ë’ 5.3 ‡√Ë◊Õß ·∫∫ª√–‡¡‘π‚§√ßß“π

 Õ◊Ë Õªÿ °√≥å

1. „∫§«“¡√âŸ∑’Ë 1 ‡√ËÕ◊ ß °“√æ—≤𓂧√ßß“πÀÿàπ¬πµåÕ—µ‚π¡µ— ‘
2. „∫ß“π∑’Ë 5.1 ‡√◊ÕË ß «“ß·ºπæ—≤𓂧√ßß“πÀàπÿ ¬πµåÕµ— ‚π¡µ— ‘
3. „∫ß“π∑Ë’ 5.2 ‡√Õ◊Ë ß  √ÿªº≈°“√æ—≤𓂧√ßß“πÀπàÿ ¬πµåÕ—µ‚π¡—µ‘
4. „∫ß“π∑’Ë 5.3 ‡√◊ÕË ß ·∫∫ª√–‡¡π‘ ‚§√ßß“π
5. ™ÿ¥Ààÿπ¬πµå OBECûs Kit

194 √“¬ß“π°“√«®‘ ¬— °“√æ≤— 𓇥Á°‰∑¬¥â“π‡∑§‚π‚≈¬À’ πàÿ ¬πµå

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