int Left_motor_go=8; //左電機(jī)前進(jìn)(IN1)
int Left_motor_back=9; //左電機(jī)后退(IN2)
int Right_motor_go=10; // 右電機(jī)前進(jìn)(IN3)
int Right_motor_back=11; // 右電機(jī)后退(IN4)
int key=A2;//定義按鍵 數(shù)字A2 接口
int beep=A3;//定義蜂鳴器 數(shù)字A3 接口
const int SensorRight = 3; //右循跡紅外傳感器(P3.2 OUT1)
const int SensorLeft = 4; //左循跡紅外傳感器(P3.3 OUT2)
int SL; //左循跡紅外傳感器狀態(tài)
int SR; //右循跡紅外傳感器狀態(tài)
void setup()
{
//初始化電機(jī)驅(qū)動(dòng)IO為輸出方式
pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM)
pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)
pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM)
pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM)
pinMode(key,INPUT);//定義按鍵接口為輸入接口
pinMode(beep,OUTPUT);
pinMode(SensorRight, INPUT); //定義右循跡紅外傳感器為輸入
pinMode(SensorLeft, INPUT); //定義左循跡紅外傳感器為輸入
}
//=======================智能小車的基本動(dòng)作=========================
//void run(int time) // 前進(jìn)
void run()
{
digitalWrite(Right_motor_go,HIGH); // 右電機(jī)前進(jìn)
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,60);//PWM比例0~255調(diào)速，左右輪差異略增減
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // 左電機(jī)前進(jìn)
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);//PWM比例0~255調(diào)速，左右輪差異略增減
analogWrite(Left_motor_back,60);
//delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
//void brake(int time) //剎車，停車
void brake()
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
//delay(time * 100);//執(zhí)行時(shí)間，可以調(diào)整
}
//void left(int time) //左轉(zhuǎn)(左輪不動(dòng)，右輪前進(jìn))
void left()
{
digitalWrite(Right_motor_go,HIGH); // 右電機(jī)前進(jìn)
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,60);
analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,LOW); //左輪后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速
//delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
void spin_left() //左轉(zhuǎn)(左輪后退，右輪前進(jìn))
{
digitalWrite(Right_motor_go,HIGH); // 右電機(jī)前進(jìn)
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,60);
analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,HIGH); //左輪后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,30);
analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速
//delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
//void right(int time) //右轉(zhuǎn)(右輪不動(dòng)，左輪前進(jìn))
void right()
{
digitalWrite(Right_motor_go,LOW); //右電機(jī)后退
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,LOW);//左電機(jī)前進(jìn)
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,60);//PWM比例0~255調(diào)速
//delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
void spin_right() //右轉(zhuǎn)(右輪后退，左輪前進(jìn))
{
digitalWrite(Right_motor_go,LOW); //右電機(jī)后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,30);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,LOW);//左電機(jī)前進(jìn)
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,60);//PWM比例0~255調(diào)速
//delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
//void back(int time) //后退
void back(int time)
{
digitalWrite(Right_motor_go,LOW); //右輪后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,60);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,HIGH); //左輪后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,60);
analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速
delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
//==========================================================
void keysacn()//按鍵掃描
{
int val;
val=digitalRead(key);//讀取數(shù)字7 口電平值賦給val
while(!digitalRead(key))//當(dāng)按鍵沒被按下時(shí)，一直循環(huán)
{
val=digitalRead(key);//此句可省略，可讓循環(huán)跑空
}
while(digitalRead(key))//當(dāng)按鍵被按下時(shí)
{
delay(10); //延時(shí)10ms
val=digitalRead(key);//讀取數(shù)字7 口電平值賦給val
if(val==HIGH) //第二次判斷按鍵是否被按下
{
digitalWrite(beep,HIGH); //蜂鳴器響
while(!digitalRead(key)) //判斷按鍵是否被松開
digitalWrite(beep,LOW); //蜂鳴器停止
}
else
digitalWrite(beep,LOW);//蜂鳴器停止
}
}
void loop()
{
keysacn();//調(diào)用按鍵掃描函數(shù)
while(1)
{
//有信號(hào)為L(zhǎng)OW 沒有信號(hào)為HIGH 檢測(cè)到黑線 輸出高 檢測(cè)到白色區(qū)域輸出低
SR = digitalRead(SensorRight);//有信號(hào)表明在白色區(qū)域，車子底板上L1亮；沒信號(hào)表明壓在黑線上，車子底板上L1滅
SL = digitalRead(SensorLeft);//有信號(hào)表明在白色區(qū)域，車子底板上L2亮；沒信號(hào)表明壓在黑線上，車子底板上L2滅
if (SL == LOW&&SR==LOW)
run(); //調(diào)用前進(jìn)函數(shù)
else if (SL == HIGH & SR == LOW)// 左循跡紅外傳感器,檢測(cè)到信號(hào)，車子向右偏離軌道，向左轉(zhuǎn)
spin_left();
else if (SR == HIGH & SL == LOW) // 右循跡紅外傳感器,檢測(cè)到信號(hào)，車子向左偏離軌道，向右轉(zhuǎn)
spin_right();
else // 都是黑色, 停止
brake();
}
}
|
QQ好友和群
QQ空間
騰訊微博
騰訊朋友
收藏
淘帖
頂
踩
