arduion程序对履带小车的控制履带小车的控制程序附视频

ID:584041 · 发表于 2019-7-20 08:53

昨天发了帖，不知怎么的，文件没有上传，今天重新发一个，该履带小车置三类传感器（闪光传感器在很低的光强下也会反应，不用的话可以不管或着注释掉），基于“探索者”平台和arduion编程环境。

Arduino源程序如下:

//第二种转向方式——差速转向
//本程序有个多余的Flash传感器，这是个光感传感器，只要有稍稍强的光，就会反应，不用可以注释掉它
void setup()
{
pinMode(14,INPUT);
pinMode(18,INPUT);
pinMode(17,INPUT);
pinMode(16,INPUT);
pinMode( 9 , OUTPUT);
pinMode( 10 , OUTPUT);
pinMode( 5 , OUTPUT);
pinMode( 6 , OUTPUT);
}
void loop()
{
int touch = digitalRead(14);
int red_line_1=digitalRead(18);
int red_line_2=digitalRead(16);
int flash=digitalRead(17);
if(touch==LOW) //触碰到障碍物
{
digitalWrite( 9 , LOW );
digitalWrite( 10 , HIGH );
digitalWrite( 5 , LOW );
digitalWrite( 6 , HIGH );
delay(3000);
digitalWrite( 9 ,HIGH ); //只用写高电平那位，用analogWrite(引脚，转速)函数
analogWrite(9,100);
// digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
analogWrite(5,200);
// digitalWrite( 6 , LOW );
delay(2000);
digitalWrite( 9 , HIGH );
digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
digitalWrite( 6 , LOW );
}
if(touch==HIGH)
{
digitalWrite( 9 , HIGH );
digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
digitalWrite( 6 , LOW );
}
if(red_line_1==LOW&&red_line_2==LOW) //两个都遇到障碍物后退一秒，往右转
{
digitalWrite( 9 , LOW );
digitalWrite( 10 , HIGH );
digitalWrite( 5 , LOW );
digitalWrite( 6 , HIGH );
delay(1000);
digitalWrite( 9 ,HIGH ); //然后用第二种方法转向
analogWrite(9,100);
// digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
analogWrite(5,200); ////两个都遇到障碍物，转得厉害点
// digitalWrite( 6 , LOW );
delay(1500); //转向后要直走
digitalWrite( 9 , HIGH );
digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
digitalWrite( 6 , LOW );
}
if(red_line_1==0&&red_line_2!=0) //只有第一个灯检测到障碍物——左侧遇到障碍物，后退半秒，往右走/转
{
digitalWrite( 9 , LOW );
digitalWrite( 10 , HIGH );
digitalWrite( 5 , LOW );
digitalWrite( 6 , HIGH );
delay(500);
digitalWrite( 9 ,HIGH );
analogWrite(9,100);
// digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
analogWrite(5,150);
// digitalWrite( 6 , LOW );
delay(1500); //延时后直走
digitalWrite( 9 , HIGH );
digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
digitalWrite( 6 , LOW );
}
if(red_line_1!=0&&red_line_2==0) //右侧红外灯检测到障碍物，往左走
{
digitalWrite( 9 , LOW );
digitalWrite( 10 , HIGH );
digitalWrite( 5 , LOW );
digitalWrite( 6 , HIGH );
delay(500);
digitalWrite( 9 ,HIGH );
analogWrite(9,150); //往左走就是把转速改下
// digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
analogWrite(5,100);
// digitalWrite( 6 , LOW );
delay(1500); //延时后直走
digitalWrite( 9 , HIGH );
digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
digitalWrite( 6 , LOW );
}
if(flash==LOW)
{
digitalWrite( 9 ,LOW);
digitalWrite( 10 ,HIGH );
digitalWrite( 5 ,LOW );
digitalWrite( 6 ,HIGH );
delay(2000);
digitalWrite( 9 ,HIGH );
analogWrite(9,200);
// digitalWrite( 10 , LOW );
digitalWrite( 5 , HIGH );
analogWrite(5,100);
// digitalWrite( 6 , LOW );
delay(1500);
}
}

复制代码

内含视频演示资料51hei提供下载:

arduion程序对履带小车的控制履带小车的控制.zip (10.05 MB, 下载次数: 17)

ID:592703 · 发表于 2019-8-31 12:36

谢谢！！！

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arduion程序对履带小车的控制履带小车的控制程序 附视频

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arduion程序对履带小车的控制履带小车的控制程序附视频