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標題: Arduino尋跡小車程序 [打印本頁]

作者: 。。！ 時間: 2019-6-9 21:12
標題: Arduino尋跡小車程序
int Left_motor_go=8;    //左電機前進(IN1)
int Left_motor_back=9;    //左電機后退(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;//定義按鍵數字A2 接口
int beep=A3;//定義蜂鳴器數字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
int SR; //右循跡紅外傳感器狀態

void setup()
{
  //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
}

//=======================智能小車的基本動作=========================
//void run(int time)    // 前進
void run()
{
digitalWrite(Right_motor_go,HIGH);  // 右電機前進
  digitalWrite(Right_motor_back,LOW);
  analogWrite(Right_motor_go,60);//PWM比例0~255調速，左右輪差異略增減
  analogWrite(Right_motor_back,0);
  digitalWrite(Left_motor_go,LOW);  // 左電機前進
  digitalWrite(Left_motor_back,HIGH);
  analogWrite(Left_motor_go,0);//PWM比例0~255調速，左右輪差異略增減
  analogWrite(Left_motor_back,60);
  //delay(time * 100); //執行時間，可以調整
}

//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);//執行時間，可以調整
}

//void left(int time)       //左轉(左輪不動，右輪前進)
void left()
{
  digitalWrite(Right_motor_go,HIGH);       // 右電機前進
  digitalWrite(Right_motor_back,LOW);
  analogWrite(Right_motor_go,60);
  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()       //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,60);
  analogWrite(Right_motor_back,0);//PWM比例0~255調速
  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調速
  //delay(time * 100);       //執行時間，可以調整
}

//void right(int time)       //右轉(右輪不動，左輪前進)
void right()
{
  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,LOW);//左電機前進
  digitalWrite(Left_motor_back,HIGH);
  analogWrite(Left_motor_go,0);
  analogWrite(Left_motor_back,60);//PWM比例0~255調速
  //delay(time * 100);       //執行時間，可以調整
}

void spin_right()       //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,30);//PWM比例0~255調速
  digitalWrite(Left_motor_go,LOW);//左電機前進
  digitalWrite(Left_motor_back,HIGH);
  analogWrite(Left_motor_go,0);
  analogWrite(Left_motor_back,60);//PWM比例0~255調速
  //delay(time * 100);       //執行時間，可以調整
}

//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 loop()
{
  keysacn();//調用按鍵掃描函數
  while(1)
  {
  //有信號為LOW  沒有信號為HIGH 檢測到黑線  輸出高  檢測到白色區域輸出低
  SR = digitalRead(SensorRight);//有信號表明在白色區域，車子底板上L1亮；沒信號表明壓在黑線上，車子底板上L1滅
  SL = digitalRead(SensorLeft);//有信號表明在白色區域，車子底板上L2亮；沒信號表明壓在黑線上，車子底板上L2滅
  if (SL == LOW&&SR==LOW)
run(); //調用前進函數
  else if (SL == HIGH & SR == LOW)// 左循跡紅外傳感器,檢測到信號，車子向右偏離軌道，向左轉
spin_left();
  else if (SR == HIGH & SL == LOW) // 右循跡紅外傳感器,檢測到信號，車子向左偏離軌道，向右轉
spin_right();
  else // 都是黑色, 停止
  brake();
  }
}

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