//#include <Servo.h>
#include <LiquidCrystal.h> //申明1602液晶的函數庫
//申明1602液晶的引腳所連接的Arduino數字端口，8線或4線數據模式，任選其一
//LiquidCrystal lcd(12,11,10,9,8,7,6,5,4,3,2); //8數據口模式連線聲明
LiquidCrystal lcd(13,12,7,6,5,4,3); //4數據口模式連線聲明
int Echo = A1; // Echo回聲腳(P2.0)
int Trig =A0; // Trig 觸發腳(P2.1)
int Distance = 0;
int Left_motor_back=8; //左電機后退(IN1)
int Left_motor_go=9; //左電機前進(IN2)
int Right_motor_go=10; // 右電機前進(IN3)
int Right_motor_back=11; // 右電機后退(IN4)
int key=A2;//定義按鍵 A2 接口
int beep=A3;//定義蜂鳴器 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)
//const int SensorRight_2 = 6; //右紅外傳感器(P3.5 OUT4)
//const int SensorLeft_2 = 5; //左紅外傳感器(P3.4 OUT3)
//int SL; //左循跡紅外傳感器狀態
//int SR; //右循跡紅外傳感器狀態
//int SL_2; //左紅外傳感器狀態
//int SR_2; //右紅外傳感器狀態
void setup()
{
Serial.begin(9600); // 初始化串口
//初始化電機驅動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
//pinMode(SensorRight_2, INPUT); //定義右紅外傳感器為輸入
//pinMode(SensorLeft_2, INPUT); //定義左紅外傳感器為輸入
//初始化超聲波引腳
pinMode(Echo, INPUT); // 定義超聲波輸入腳
pinMode(Trig, OUTPUT); // 定義超聲波輸出腳
lcd.begin(16,2); //初始化1602液晶工作 模式
//定義1602液晶顯示范圍為2行16列字符
}
//=======================智能小車的基本動作=========================
//void run(int time) // 前進
void run() // 前進
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,100);//PWM比例0~255調速，左右輪差異略增減
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,HIGH); // 左電機前進
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,100);//PWM比例0~255調速，左右輪差異略增減
analogWrite(Left_motor_back,0);
//delay(time * 100); //執行時間，可以調整
}
void brake(int time) //剎車，停車
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
delay(time * 100);//執行時間，可以調整
}
//void left(int time) //左轉(左輪不動，右輪前進)
void left() //左轉(左輪不動，右輪前進)
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,100);
analogWrite(Right_motor_back,0);//PWM比例0~255調速
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調速
//delay(time * 100); //執行時間，可以調整
}
void spin_left(int time) //左轉(左輪后退，右輪前進)
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,100);
analogWrite(Right_motor_back,0);//PWM比例0~255調速
digitalWrite(Left_motor_go,LOW); //左輪后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,100);//PWM比例0~255調速
delay(time * 100); //執行時間，可以調整
}
void right(int time)
//void right() //右轉(右輪不動，左輪前進)
{
digitalWrite(Right_motor_go,LOW); //右電機后退
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,0);//PWM比例0~255調速
digitalWrite(Left_motor_go,HIGH);//左電機前進
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,100);
analogWrite(Left_motor_back,0);//PWM比例0~255調速
delay(time * 100); //執行時間，可以調整
}
void spin_right(int time) //右轉(右輪后退，左輪前進)
{
digitalWrite(Right_motor_go,LOW); //右電機后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,100);//PWM比例0~255調速
digitalWrite(Left_motor_go,HIGH);//左電機前進
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,100);
analogWrite(Left_motor_back,0);//PWM比例0~255調速
delay(time * 100); //執行時間，可以調整
}
void back(int time) //后退
{
digitalWrite(Right_motor_go,LOW); //右輪后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,100);//PWM比例0~255調速
digitalWrite(Left_motor_go,LOW); //左輪后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,150);//PWM比例0~255調速
delay(time * 100); //執行時間，可以調整
}
//==========================================================
void keysacn()//按鍵掃描
{
int val;
val=digitalRead(key);//讀取數字7 口電平值賦給val
while(!digitalRead(key))//當按鍵沒被按下時，一直循環
{
val=digitalRead(key);//此句可省略，可讓循環跑空
}
while(digitalRead(key))//當按鍵被按下時
{
delay(10); //延時10ms
val=digitalRead(key);//讀取數字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 Distance_test() // 量出前方距離
{
digitalWrite(Trig, LOW); // 給觸發腳低電平2μs
delayMicroseconds(2);
digitalWrite(Trig, HIGH); // 給觸發腳高電平10μs，這里至少是10μs
delayMicroseconds(10);
digitalWrite(Trig, LOW); // 持續給觸發腳低電
float Fdistance = pulseIn(Echo, HIGH); // 讀取高電平時間(單位：微秒)
Fdistance= Fdistance/58; //為什么除以58等于厘米， Y米=（X秒*344）/2
// X秒=（ 2*Y米）/344 ==》X秒=0.0058*Y米 ==》厘米=微秒/58
Serial.print("Distance:"); //輸出距離（單位：厘米）
Serial.println(Fdistance); //顯示距離
Distance = Fdistance;
}
void Distance_display()//顯示距離
{
if((2<Distance)&(Distance<400))
{
lcd.home(); //把光標移回左上角，即從頭開始輸出
lcd.print(" Distance: "); //顯示
lcd.setCursor(6,2); //把光標定位在第2行，第6列
lcd.print(Distance); //顯示距離
lcd.print("cm"); //顯示
}
else
{
lcd.home(); //把光標移回左上角，即從頭開始輸出
lcd.print("!!! Out of range"); //顯示超出距離
}
delay(250);
lcd.clear();
}
void loop()
{
keysacn(); //調用按鍵掃描函數
while(1)
{
Distance_test();//測量前方距離
Distance_display();//液晶屏顯示距離
if(Distance < 60)//數值為碰到障礙物的距離，可以按實際情況設置
while(Distance < 60)//再次判斷是否有障礙物，若有則轉動方向后，繼續判斷
{
right(1);//右轉
brake(1);//停車
Distance_test();//測量前方距離
Distance_display();//液晶屏顯示距離
}
else
run();//無障礙物，直行
}
}
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