{"id":620,"date":"2026-06-11T13:29:19","date_gmt":"2026-06-11T05:29:19","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ugv-emergency-brake-tof-vl53l1x-obstacle-stop-farsi\/"},"modified":"2026-06-11T13:29:20","modified_gmt":"2026-06-11T05:29:20","slug":"ugv-emergency-brake-tof-vl53l1x-obstacle-stop-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ugv-emergency-brake-tof-vl53l1x-obstacle-stop-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0633\u06cc\u0633\u062a\u0645 \u062a\u0631\u0645\u0632 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc \u0628\u0631\u0627\u06cc UGV \u0628\u0627 \u0633\u0646\u0633\u0648\u0631 \u0641\u0627\u0635\u0644\u0647 ToF VL53L1X (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nVL53L1X ToF UGV \u062a\u0631\u0645\u0632 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc \u0645\u0627\u0646\u0639\n<\/div>\n
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\u0633\u0646\u0633\u0648\u0631 ToF VL53L1X \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0633\u0646\u0633\u0648\u0631 VL53L1X<\/strong> \u0627\u0632 STMicroelectronics \u06cc\u06a9 \u0633\u0646\u0633\u0648\u0631 ToF<\/strong> (Time of Flight \u2014 \u0632\u0645\u0627\u0646 \u067e\u0631\u0648\u0627\u0632 \u0646\u0648\u0631) \u0627\u0633\u062a \u06a9\u0647 \u0628\u0627 \u0627\u0631\u0633\u0627\u0644 \u067e\u0627\u0644\u0633 \u0644\u06cc\u0632\u0631 \u0646\u0627\u062f\u06cc\u062f\u0646\u06cc \u0648 \u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc \u0632\u0645\u0627\u0646 \u0628\u0627\u0632\u06af\u0634\u062a \u0622\u0646\u060c \u0641\u0627\u0635\u0644\u0647 \u0631\u0627 \u0628\u0627 \u062f\u0642\u062a \u00b1\u06f1 \u0645\u06cc\u0644\u06cc\u200c\u0645\u062a\u0631<\/strong> \u062f\u0631 \u0628\u0631\u062f \u062a\u0627 \u06f4 \u0645\u062a\u0631 \u0627\u0646\u062f\u0627\u0632\u0647 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f \u2014 \u06f1\u06f0 \u0628\u0631\u0627\u0628\u0631 \u062f\u0642\u06cc\u0642\u200c\u062a\u0631 \u0627\u0632 \u0633\u0648\u0646\u0627\u0631 HC-SR04!<\/p>\n

\u0627\u06cc\u0646 \u0633\u0646\u0633\u0648\u0631 \u0627\u0632 I2C \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 SparkFun \u062f\u0627\u0631\u062f. \u0628\u0627 \u0646\u0635\u0628 \u0622\u0646 \u0631\u0648\u06cc \u062c\u0644\u0648\u06cc UGV \u0648 \u062a\u0646\u0638\u06cc\u0645 \u0622\u0633\u062a\u0627\u0646\u0647 \u0641\u0627\u0635\u0644\u0647 (\u0645\u062b\u0644\u0627\u064b \u06f3\u06f0cm)\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u062a\u0631\u0645\u0632 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc \u0633\u0627\u062e\u062a \u06a9\u0647 \u0642\u0628\u0644 \u0627\u0632 \u0628\u0631\u062e\u0648\u0631\u062f \u0628\u0627 \u0645\u0627\u0646\u0639\u060c UGV \u0631\u0627 \u0645\u062a\u0648\u0642\u0641 \u06a9\u0646\u062f.<\/p>\n<\/div>\n

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\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u0633\u06cc\u0633\u062a\u0645 \u062a\u0631\u0645\u0632 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc UGV \u0628\u0627 VL53L1X \u2014 \u0627\u062a\u0648\u0645\u0627\u062a\u06cc\u06a9 \u0645\u062a\u0648\u0642\u0641 \u0645\u06cc\u200c\u0634\u0648\u062f.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647 \u0633\u0646\u0633\u0648\u0631:<\/strong> \u06f5-\u06f8 \u062f\u0644\u0627\u0631<\/li>\n
  • \u062f\u0642\u062a \u0641\u0627\u0635\u0644\u0647:<\/strong> \u00b1\u06f1mm<\/li>\n
  • \u0632\u0645\u0627\u0646 \u0648\u0627\u06a9\u0646\u0634:<\/strong> \u0632\u06cc\u0631 \u06f5\u06f0ms<\/li>\n<\/ul>\n<\/div>\n

    \n\nUGV<\/text>\nVL53L1X \u062c\u0644\u0648<\/text>\n\n\u0644\u06cc\u0632\u0631 IR<\/text>\n\n\u0645\u0627\u0646\u0639<\/text>\n\ndist=25cm<\/text>\nSTOP!<\/text>\nVL53L1X \u2014 \u0644\u06cc\u0632\u0631 ToF\u060c \u06f4m \u0628\u0631\u062f\u060c \u00b1\u06f1mm\u060c \u062a\u0631\u0645\u0632 \u062f\u0631 \u06f3\u06f0cm<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u2014 \u062a\u0631\u0645\u0632 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc<\/h2>\n
    \n#include <Wire.h>\n#include <SparkFun_VL53L1X.h>\n\nSFEVL53L1X distanceSensor;\n\nconst int L_F=6,L_B=7,R_F=8,R_B=9;\nconst int STOP_DIST = 300;   \/\/ mm \u2014 \u062a\u0648\u0642\u0641 \u062f\u0631 \u06f3\u06f0cm\nconst int SLOW_DIST = 600;   \/\/ mm \u2014 \u06a9\u0627\u0647\u0634 \u0633\u0631\u0639\u062a \u062f\u0631 \u06f6\u06f0cm\n\nvoid motors(int lf,int lb,int rf,int rb) {\n  digitalWrite(L_F,lf); digitalWrite(L_B,lb);\n  digitalWrite(R_F,rf); digitalWrite(R_B,rb);\n}\n\nvoid setup() {\n  Wire.begin();\n  distanceSensor.begin();\n  distanceSensor.setTimingBudgetInMs(20);  \/\/ 20ms \u2192 50Hz\n  distanceSensor.setIntermeasurementPeriod(22);\n  distanceSensor.startRanging();\n  int pins[]={L_F,L_B,R_F,R_B};\n  for(int p:pins) pinMode(p,OUTPUT);\n}\n\nvoid loop() {\n  if(distanceSensor.checkForDataReady()) {\n    int dist = distanceSensor.getDistance();\n    distanceSensor.clearInterrupt();\n\n    if(dist < STOP_DIST) {\n      motors(0,0,0,0);       \/\/ \u062a\u0648\u0642\u0641 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc\n      Serial.println(\"EMERGENCY STOP: \" + String(dist) + \"mm\");\n    } else if(dist < SLOW_DIST) {\n      \/\/ \u06a9\u0627\u0647\u0634 \u0633\u0631\u0639\u062a (PWM analogWrite)\n      analogWrite(9,  map(dist,STOP_DIST,SLOW_DIST,100,255));\n      analogWrite(11, map(dist,STOP_DIST,SLOW_DIST,100,255));\n      motors(1,0,1,0);\n    } else {\n      motors(1,0,1,0);   \/\/ \u0633\u0631\u0639\u062a \u06a9\u0627\u0645\u0644\n    }\n  }\n}\n<\/code><\/pre>\n
    \u0645\u0642\u0627\u06cc\u0633\u0647 \u0633\u0646\u0633\u0648\u0631\u0647\u0627\u06cc \u0641\u0627\u0635\u0644\u0647 \u0628\u0631\u0627\u06cc UGV<\/h2>\n\n\n\n\n\n\n\n\n
    \u0633\u0646\u0633\u0648\u0631<\/th>\n\u062f\u0642\u062a<\/th>\n\u0628\u0631\u062f<\/th>\n\u0645\u0646\u0627\u0633\u0628<\/th>\n<\/tr>\n<\/thead>\n
    HC-SR04 (\u0633\u0648\u0646\u0627\u0631)<\/td>\n\u00b1\u06f3mm<\/td>\n\u06f2cm-\u06f4m<\/td>\n\u0627\u0642\u062a\u0635\u0627\u062f\u06cc<\/td>\n<\/tr>\n
    VL53L0X<\/td>\n\u00b1\u06f3mm<\/td>\n\u062a\u0627 \u06f2m<\/td>\n\u0645\u062d\u06cc\u0637 \u062f\u0627\u062e\u0644\u06cc<\/td>\n<\/tr>\n
    VL53L1X \u2713<\/td>\n\u00b1\u06f1mm<\/td>\n\u062a\u0627 \u06f4m<\/td>\nUGV \u0628\u0647\u062a\u0631\u06cc\u0646<\/td>\n<\/tr>\n
    TF-Mini LiDAR<\/td>\n\u00b1\u06f1cm<\/td>\n\u062a\u0627 \u06f1\u06f2m<\/td>\n\u062f\u0648\u0631\u0628\u0631\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nVL53L1X<\/text>\nI2C 50Hz<\/text>\nArduino<\/text>\nThreshold Logic<\/text>\nL298N<\/text>\nPWM \u06a9\u0627\u0647\u0634<\/text>\nUGV \u062a\u0648\u0642\u0641<\/text>\n\u0627\u06cc\u0645\u0646 \u06f3\u06f0cm<\/text>\nVL53L1X \u2014 ToF \u00b1\u06f1mm \u2192 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u2192 \u062a\u0631\u0645\u0632 \u0627\u0636\u0637\u0631\u0627\u0631\u06cc UGV<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n