arduino无线小车

ID:147553 · 发表于 2016-11-12 20:07

#include <MsTimer2.h>
#include <SoftwareSerial.h>
#include <Servo.h>
Servo myservo;// 定义舵机对
int pos = 90;//定义舵机转动位置
SoftwareSerial mySerial(8, 9); // RX, TX
const int TrigPin = 2;
const int EchoPin = 3;
const int L298nIn1 = 7;
const int L298nIn2 = 6;
const int L298nIn3 = 5;
const int L298nIn4 = 4;
float distance,a,b,a1=360.0,b1=360.0;
unsigned char flag=0;
void setup()
{ // 初始化串口通信及连接SR04的引脚
      mySerial.begin(9600);
      myservo.attach(10);  // 设置舵机控制针脚
      myservo.write(pos);
      pinMode(TrigPin, OUTPUT);// 要检测引脚上输入的脉冲宽度，需要先设置为输入状态
      pinMode(EchoPin, INPUT);
      pinMode(L298nIn1, OUTPUT);
      pinMode(L298nIn2, OUTPUT);
      pinMode(L298nIn3, OUTPUT);
      pinMode(L298nIn4, OUTPUT);
      pinMode(13, OUTPUT);
      digitalWrite(13, HIGH);
      goStop();
//    mySerial.println("Ultrasonic sensor:");
//    MsTimer2::set(500, flash);       // 中断设置函数，每 500ms 进入一次中断
//    MsTimer2::start();             //开始计时
}
void flash() //中断处理函数，改变灯的状态
{
  if(flag==1) {
mySerial.print(distance);
mySerial.print("cm");
mySerial.println("");}
}
void goForward() {//小车前进
  digitalWrite(L298nIn1, LOW);
  analogWrite(L298nIn2,  250);//右轮正转
  analogWrite(L298nIn3,  0);
  digitalWrite(L298nIn4, HIGH);//左轮直走
}
void goBack() {//小车后退
  digitalWrite(L298nIn1, HIGH);
  analogWrite(L298nIn2,  0);
  analogWrite(L298nIn3,  255);
  digitalWrite(L298nIn4, LOW);
}
void goStop() {//小车停止
  digitalWrite(L298nIn1, LOW);
  digitalWrite(L298nIn2, LOW);
  digitalWrite(L298nIn3, LOW);
  digitalWrite(L298nIn4, LOW);
}
void turnRight() {//小车右转
  digitalWrite(L298nIn1, HIGH);
  digitalWrite(L298nIn2, LOW);
  digitalWrite(L298nIn3, LOW);
  digitalWrite(L298nIn4, HIGH);
}
void turnLeft() {//小车左转
  digitalWrite(L298nIn1, LOW);
  digitalWrite(L298nIn2, HIGH);
  digitalWrite(L298nIn3, HIGH);
  digitalWrite(L298nIn4, LOW);
}
void PWM_Right() {//小车右转
  digitalWrite(L298nIn1, LOW);
  analogWrite(L298nIn2,  170);
  digitalWrite(L298nIn3, LOW);
  digitalWrite(L298nIn4, HIGH);
}
void PWM_Left() {//小车左转
  digitalWrite(L298nIn1, LOW);
  digitalWrite(L298nIn2, HIGH);
  analogWrite(L298nIn3,  75);
  digitalWrite(L298nIn4, HIGH);
}
void PWM_back_L(){
  digitalWrite(L298nIn1, HIGH);
  digitalWrite(L298nIn2, LOW);
  analogWrite(L298nIn3, 200);
  digitalWrite(L298nIn4, LOW);
}
void PWM_back_R(){
  digitalWrite(L298nIn1, HIGH);
  analogWrite(L298nIn2, 60);
  digitalWrite(L298nIn3, HIGH);
  digitalWrite(L298nIn4, LOW);
}
void flag_1(){
  if(flag==1)
flag=0;
  else
flag=1;
}

void readTtl() {
  while (mySerial.available())
  {
char s=mySerial.read();
delay(2);
if (s == 'W')  goForward();//如果按GO键，小车前进，直到按STOP键停止
else if (s == 'A' ) PWM_Left();
else if (s == 'Q' ) {goStop();flag=0;}
else if (s == 'D' ) PWM_Right();
else if (s == 'S' ) goBack();
else if (s == 'L' ) turnLeft();
else if (s == 'R' ) turnRight();
else if (s == 'Z' ) PWM_back_L();
else if (s == 'Y' ) PWM_back_R();
else if (s == 'F' ) flag_1();
  }
}
void Ultr(){
  distance=0.0;
  digitalWrite(TrigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(TrigPin, HIGH);
  delayMicroseconds(10); // 产生一个10us的高脉冲去触发TrigPin
  digitalWrite(TrigPin, LOW);
  distance = pulseIn(EchoPin, HIGH) / 58.00; // 检测脉冲宽度，并计算出距离
  delay(2);
}
void Duoji(){
  for(pos = 90; pos <= 180; pos += 1){
myservo.write(pos);
delay(5);
readTtl();
  }
  for(pos = 180; pos >= 90; pos-= 1){
myservo.write(pos);
delay(5);
readTtl();
Ultr();
if(pos>120){
   if(distance<a1)a1=distance;}
a=a1;
  }
  for(pos = 90; pos >= 0; pos -= 1){
myservo.write(pos);
delay(5);
readTtl();
  }
  for(pos = 0; pos <= 90; pos += 1){
myservo.write(pos);
delay(5);
readTtl();
Ultr();
if(pos<60){
   if(distance<b1)b1=distance;}
b=b1;
  }
}
void loop()
{
  readTtl();
  if(flag==1)
  {
goForward();
Ultr();
if(distance<=20.0)
{
   goStop();
   Duoji();
   if(a>15.0 || b>15.0){
      if(a>b){turnLeft(); delay(300);}
      else if(a<b){turnRight();delay(300);}
      else if(a>20.0&&b>20.0){turnRight();delay(300);}
   }
   else
   {goBack();delay(300);turnLeft();delay(580);}
   goForward();
   a1=50.0;
   b1=50.0;
}
  }
}

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