{"id":852,"date":"2026-06-12T15:50:32","date_gmt":"2026-06-12T07:50:32","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/autonomous-golf-cart-diy-agriculture-arduino-gps-farsi\/"},"modified":"2026-06-12T15:50:32","modified_gmt":"2026-06-12T07:50:32","slug":"autonomous-golf-cart-diy-agriculture-arduino-gps-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/autonomous-golf-cart-diy-agriculture-arduino-gps-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u06af\u0644\u0641 \u06a9\u0627\u0631\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 DIY \u0628\u0631\u0627\u06cc \u06a9\u0634\u0627\u0648\u0631\u0632\u06cc \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 GPS (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u06af\u0644\u0641 \u06a9\u0627\u0631\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 DIY \u06a9\u0634\u0627\u0648\u0631\u0632\u06cc GPS LoRa\n<\/div>\n
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\u06a9\u0634\u0627\u0648\u0631\u0632\u06cc \u062f\u0642\u06cc\u0642 \u0628\u0627 UGV \u2014 \u0686\u0631\u0627\u061f<\/h2>\n

\u06cc\u06a9 \u06af\u0644\u0641 \u06a9\u0627\u0631\u062a \u062e\u0648\u062f\u06a9\u0627\u0631 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0631\u062f\u06cc\u0641\u200c\u0647\u0627\u06cc \u0645\u0632\u0631\u0639\u0647 \u0631\u0627 \u0637\u06cc \u06a9\u0646\u062f\u060c \u062e\u0627\u06a9 \u0631\u0627 \u0631\u0637\u0648\u0628\u062a\u200c\u0633\u0646\u062c\u06cc \u06a9\u0646\u062f\u060c \u0645\u062d\u0635\u0648\u0644 \u0631\u0627 \u062c\u0645\u0639\u200c\u0622\u0648\u0631\u06cc \u06a9\u0646\u062f\u060c \u06cc\u0627 \u0633\u0645\u0648\u0645 \u0631\u0627 spray \u06a9\u0646\u062f \u2014 \u0628\u062f\u0648\u0646 \u062e\u0633\u062a\u06af\u06cc\u060c \u06f2\u06f4 \u0633\u0627\u0639\u062a\u0647. \u0628\u0627 GPS \u062f\u0642\u06cc\u0642 \u06f2.\u06f5m \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u0631\u062f\u06cc\u0641\u200c\u0647\u0627\u06cc \u06f1 \u0645\u062a\u0631\u06cc \u0631\u0627 \u0646\u06cc\u0632 \u062f\u0646\u0628\u0627\u0644 \u06a9\u0631\u062f. LoRaWAN<\/strong> \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u062d\u0633\u06af\u0631 \u0631\u0627 \u0627\u0632 \u0645\u0632\u0631\u0639\u0647 \u0628\u0647 \u0627\u06cc\u0646\u062a\u0631\u0646\u062a \u0645\u06cc\u200c\u0641\u0631\u0633\u062a\u062f \u0628\u062f\u0648\u0646 \u0646\u06cc\u0627\u0632 \u0628\u0647 WiFi.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
\u067e\u0627\u06cc\u0647<\/td>\n\u06af\u0644\u0641 \u06a9\u0627\u0631\u062a \u062f\u0633\u062a\u200c\u062f\u0648\u0645 \u06cc\u0627 \u0633\u0627\u062e\u062a \u0627\u0632 \u062a\u06cc\u0648\u0628 \u0641\u0644\u0632\u06cc \u06f4\u06f0\u00d7\u06f4\u06f0<\/td>\n<\/tr>\n
\u0645\u0648\u062a\u0648\u0631<\/td>\nDC 24V 500W \u2014 \u0645\u0648\u062a\u0648\u0631 \u06af\u0644\u0641 \u06a9\u0627\u0631\u062a \u0627\u0635\u0644\u06cc<\/td>\n<\/tr>\n
\u0628\u0648\u062f\u062c\u0647<\/td>\n~\u06f3\u2013\u06f5M \u062a\u0648\u0645\u0627\u0646<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0645\u0633\u06cc\u0631 waypoint \u0631\u062f\u06cc\u0641 \u0645\u0632\u0631\u0639\u0647<\/h2>\n
\/\/ \u0627\u0644\u06af\u0648\u06cc \u0645\u0627\u0631-\u067e\u06cc\u0686 (Lawnmower pattern) \u0628\u0631\u0627\u06cc \u0645\u0632\u0631\u0639\u0647 \u0645\u0633\u062a\u0637\u06cc\u0644\u06cc\n\/\/ \u06af\u0648\u0634\u0647\u200c\u0647\u0627\u06cc \u0645\u0632\u0631\u0639\u0647: A (lat0,lng0), B (lat1,lng1)\n\/\/ \u0641\u0627\u0635\u0644\u0647 \u0628\u06cc\u0646 \u0631\u062f\u06cc\u0641\u200c\u0647\u0627: rowSpacing (\u0645\u062a\u0631)\n\nvoid generateFarmWaypoints(double lat0, double lng0, double lat1, double lng1, float rowSpacing){\n  \/\/ \u0645\u062d\u0627\u0633\u0628\u0647 \u062a\u0639\u062f\u0627\u062f \u0631\u062f\u06cc\u0641\u200c\u0647\u0627\n  float fieldWidth = gpsDistance(lat0,lng0,lat0,lng1); \/\/ \u0639\u0631\u0636\n  int numRows = (int)(fieldWidth \/ rowSpacing);\n\n  double waypointsLat[50], waypointsLng[50];\n  int wp = 0;\n\n  for(int row=0; row<=numRows; row++){\n    double rowLat = lat0 + (lat1-lat0)*(row*rowSpacing\/fieldWidth);\n    if(row%2==0){\n      waypointsLat[wp] = rowLat; waypointsLng[wp++] = lng0;  \/\/ \u0634\u0631\u0648\u0639 \u0631\u062f\u06cc\u0641\n      waypointsLat[wp] = rowLat; waypointsLng[wp++] = lng1;  \/\/ \u067e\u0627\u06cc\u0627\u0646 \u0631\u062f\u06cc\u0641\n    } else {\n      waypointsLat[wp] = rowLat; waypointsLng[wp++] = lng1;  \/\/ \u0634\u0631\u0648\u0639 \u0628\u0631\u0639\u06a9\u0633\n      waypointsLat[wp] = rowLat; waypointsLng[wp++] = lng0;\n    }\n  }\n  \/\/ \u0627\u0631\u0633\u0627\u0644 \u0628\u0647 \u0633\u06cc\u0633\u062a\u0645 \u0646\u0627\u0648\u0628\u0631\u06cc...\n}<\/code><\/pre>\n
\u062d\u0633\u06af\u0631 \u0631\u0637\u0648\u0628\u062a \u062e\u0627\u06a9 + \u0627\u0631\u0633\u0627\u0644 LoRaWAN<\/h2>\n
\/\/ \u062d\u0633\u06af\u0631: capacitive soil sensor (\u0645\u062f\u0644 v1.2)\nint readSoilMoisture(){\n  return map(analogRead(A3), 500, 1023, 100, 0);  \/\/ 0=\u062e\u0634\u06a9\u060c 100=\u062a\u0631\n}\n\n\/\/ \u0647\u0631 \u06f3\u06f0 \u0645\u062a\u0631 \u06cc\u06a9 \u0627\u0646\u062f\u0627\u0632\u0647\u200c\u06af\u06cc\u0631\u06cc\nif(distanceTraveled() > lastSampleDist + 30){\n  int moisture = readSoilMoisture();\n  float lat = gps.location.lat();\n  float lng = gps.location.lng();\n  sendLoRaWAN(lat, lng, moisture);\n  lastSampleDist += 30;\n}<\/code><\/pre>\n
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