我的arduino控制小车巡线过路口程序

ID:278324 · 发表于 2018-1-21 15:42

bool cross;
void setup() {
  // put your setup code here, to run once:
  pinMode(12,INPUT);
  pinMode(13,INPUT);
  pinMode(8,INPUT);
  pinMode(5,OUTPUT);
  pinMode(6,OUTPUT);
  pinMode(9,OUTPUT);
  pinMode(10,OUTPUT);
  Serial.begin(9600);
  cross=false;
  Serial.println("Initialization completion!");
}
#define LS 12
#define RS 13
#define MS 8
#define LMF 9
#define LMB 10
#define RMF 5
#define RMB 6
void loop() {
  // put your main code here, to run repeatedly:
  void TURNLEFT();
  void TURNRIGHT();
  void FORWARD();
  void STOP();
  static int i=0;
  if(digitalRead(LS)==0&&digitalRead(RS)==0&&cross==0)
  {
Serial.println("001");
FORWARD();
  }
  if(digitalRead(LS)==1&&digitalRead(RS)==1&&digitalRead(MS)==1)
  {
Serial.println("111");
cross=true;
i++;
switch(i%2)
{
   case 1:
   FORWARD();
   delay(650);
   do
   {
      TURNRIGHT();
      Serial.print("cross1=");
      Serial.println(cross);
      if(digitalRead(LS)==0&&digitalRead(RS)==0&&digitalRead(MS)==1)
      break;
   }while(1);
   Serial.println("001");
   break;
   case 0:
   FORWARD();
   delay(650);
   do
   {
      TURNLEFT();
      Serial.print("cross1=");
      Serial.println(cross);
   if(digitalRead(LS)==0&&digitalRead(RS)==0&&digitalRead(MS)==1)
      break;
   }while(1);
   Serial.println("002");
   break;
   default :STOP();break;
}
   Serial.print("i%2=");
   Serial.println(i%2);
   cross=false;
   Serial.print("cross2=");
   Serial.println(cross);
   }
  if(digitalRead(LS)==0&&digitalRead(RS)==1&&cross==0)
  {
Serial.println("01");
TURNRIGHT();
  }
  if(digitalRead(LS)==1&&digitalRead(RS)==0&&cross==0)
{
Serial.println("10");
TURNLEFT();
  }
}
void TURNLEFT()
{
  digitalWrite(LMF, LOW);
  analogWrite(LMB,100);
  analogWrite(RMF,200);
  digitalWrite(RMB,LOW);
}
void TURNRIGHT()
{
  analogWrite(LMF, 200);
  digitalWrite(LMB,LOW);
  digitalWrite(RMF,LOW);
  analogWrite(RMB,100);
}
void FORWARD()
{
  analogWrite(LMF,200);
  digitalWrite(LMB,LOW);
  analogWrite(RMF,200);
  digitalWrite(RMB,LOW);
}
void STOP()
{
  digitalWrite(LMF, LOW);
  digitalWrite(LMB,LOW);
  digitalWrite(RMF,LOW);
  digitalWrite(RMB,LOW);
}

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