Arduino智能车循迹程序

ID:654550 · 发表于 2019-12-2 19:21

使用arduino 控制
红外循迹
可以自己设定参数调节速度

#define STOP 0
#define FORWARD 1
#define BACKWARD 2
#define TURNLEFT 3
#define TURNRIGHT 4
int leftMotor1 = 7;
int leftMotor2 = 8;
int rightMotor1 = 9;
int rightMotor2 = 10;
const int LeftPin1=A1;
const int LeftPin2=A2;
const int RightPin1=A3;
const int RightPin2=A4;
int leftPWM = 5; //PWM
int rightPWM = 6; //PWM
void setup() {
//寻迹模块引脚初始化
pinMode(LeftPin1,INPUT);
pinMode(LeftPin2,INPUT);
pinMode(RightPin1,INPUT);
pinMode(RightPin2,INPUT);
pinMode(leftMotor1, OUTPUT);
pinMode(leftMotor2, OUTPUT);
pinMode(rightMotor1, OUTPUT);
pinMode(rightMotor2, OUTPUT);
pinMode(leftPWM, OUTPUT);
pinMode(rightPWM, OUTPUT);
}
void loop() {
// put your main code here, to run repeatedly:
tracing();
}
void motorRun(int cmd,int value){
analogWrite(leftPWM, value); //设置PWM输出，即设置速度
analogWrite(rightPWM, value);
switch(cmd){
case FORWARD:
digitalWrite(leftMotor1, HIGH);
digitalWrite(leftMotor2, LOW);
digitalWrite(rightMotor1, HIGH);
digitalWrite(rightMotor2, LOW);
break;
case BACKWARD:
digitalWrite(leftMotor1, LOW);
digitalWrite(leftMotor2, HIGH);
digitalWrite(rightMotor1, LOW);
digitalWrite(rightMotor2, HIGH);
break;
case TURNLEFT:
digitalWrite(leftMotor1, HIGH);
digitalWrite(leftMotor2, LOW);
digitalWrite(rightMotor1, LOW);
digitalWrite(rightMotor2, HIGH);
break;
case TURNRIGHT:
digitalWrite(leftMotor1, LOW);
digitalWrite(leftMotor2, HIGH);
digitalWrite(rightMotor1, HIGH);
digitalWrite(rightMotor2, LOW);
break;
default:
digitalWrite(leftMotor1, LOW);
digitalWrite(leftMotor2, LOW);
digitalWrite(rightMotor1, LOW);
digitalWrite(rightMotor2, LOW);
}
}
void tracing(){
int data[4];
data[0] = digitalRead(A4);
data[1] = digitalRead(A3);
data[2] = digitalRead(A2);
data[3] = digitalRead(A1);
if(!data[0]&&data[1]&&data[2]&&!data[3]){ //中间检测到黑线
motorRun(FORWARD, 400);
}
if(data[0]&&!data[3]) //右边检测到黑线
{
motorRun(TURNRIGHT, 150);
}
if(!data[0] || data[3]) //左边检测到黑线
{
motorRun(TURNLEFT, 150);
}
if(!data[0] && !data[1] && !data[2] && !data[3]) //左右都没有检测到黑线
{
motorRun(BACKWARD, 100);
}
if(data[0] && data[3]) //左右都检测到黑线是停止
{
motorRun(STOP, 0);
while(1); //需要根据情况更改
}
}

复制代码

ID:688644 · 发表于 2020-1-29 18:09

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