Arduino蓝牙智能检测小车制作 -

/*
* ETARobot.cpp
*
* Created on: 2017年11月
* Author: KACHEN
*/
#include <WProgram.h>
#include <main.h>
#include "OpenContinMotor.h"
#include "OpenBuzzer.h"
#include "OpenGasSensor.h"
#include "OpenFlameSensor.h"
#include "OpenPhotoelectric.h"
#include "OpenUltrasonic.h"
#include "OpenAngleServo.h"
#include "OpenQti.h"
#define leftservo 19 //左私服舵机
#define rightservo 18 //右私服舵机
#define bell 13 //报警器
#define servopin 12 //角度舵机
//传感器引脚定义
const int gaspin[3]={2,3}; //气体传感器
const int flamepin[4]={4,5,6}; //火焰传感器
const int pelectricpin[3]={7,8}; //光电传感器
const int qtipin[3] = {17,16}; //超声波处QTI
const int trig = 15; //超声波Trig引脚
const int echo = 14; //超声波Echo引脚
//子函数
void FastGoForward(){
PulseOut(leftservo,1700);
PulseOut(rightservo,1300);
delay(15);
}
void SlowGoForward(){
PulseOut(leftservo,1600);
PulseOut(rightservo,1400);
delay(20);
}
void GoBack(void){
PulseOut(leftservo,1300);
PulseOut(rightservo,1700);
delay(15);
}
/*
* 左旋转
*/
void SpinLeft(void){
PulseOut(leftservo,1300);
PulseOut(rightservo,1300);
delay(20);
}
/*
* 右旋转
*/
void SpinRight(void){
PulseOut(leftservo,1700);
PulseOut(rightservo,1700);
delay(20);
}
void TurnLeft(void){
PulseOut(leftservo,1500);
PulseOut(rightservo,1300);
delay(10);
}
void TurnRight(void){
PulseOut(leftservo,1700);
PulseOut(rightservo,1500);
delay(10);
}
void Stop(void){
PulseOut(leftservo,1500);
PulseOut(rightservo,1500);
delay(20);
}
void TurnLeftAnyPulse(int pulses){
while(pulses--)
{
SpinLeft();
delay(2);
}
}
void TurnRightAnyPulse(int pulses){
while(pulses--)
{
SpinRight();
delay(2);
}
}
void InitAngle(void){
servopulse(servopin,100);
delay(100);
servopulse(servopin,100);
}
void AngleLeft90(void){
servopulse(servopin,170);
}
void AngleRight90(void){
servopulse(servopin,30);
}
void spinRight90To0(int j=100){
while(j--)
{
servopulse(servopin,j);
if(j==30)
break;
}
while(j++)
{
servopulse(servopin,j);
if(j==100)
break;
}
}
void spinLeft90To0(int j=100){
while(j++)
{
servopulse(servopin,j);
if(j==170)
break;
}
while(j--)
{
servopulse(servopin,j);
if(j==100)
break;
}
}
/*
* //Gas传感器是否检测到信号并报警
*/
void IsGasSenser(void){
if(GetGasStatus(gaspin[0])==true && GetGasStatus(gaspin[1])==true){
BuzzerOFF(bell);
}
else
{
BuzzerON(bell);
delay(500);
BuzzerOFF(bell);
delay(500);
}
}
/*
* //火焰传感器是否检测到信号并报警
*/
void IsFlameSenser(void){
if(GetFlameStatus(flamepin[0])==true && GetFlameStatus(flamepin[1])==true && GetFlameStatus(flamepin[2])==true){
BuzzerOFF(bell);
}
else
{
BuzzerON(bell);
delay(500);
BuzzerOFF(bell);
delay(500);
}
}
/*
* 前方光电管寻迹避障
*/
void IsPhotoelectric(void){
if(GetPelectricStatus(pelectricpin[0])==false && GetPelectricStatus(pelectricpin[1])==true)
{
for(int i=0;i<20;i++)
{
TurnRight();
}
}
else if(GetPelectricStatus(pelectricpin[0])==true && GetPelectricStatus(pelectricpin[1])==false )
{
for(int i=0;i<20;i++)
{
TurnLeft();
}
}
else if(GetPelectricStatus(pelectricpin[0])==false && GetPelectricStatus(pelectricpin[1])==false )
{
for(int i=0;i<60;i++)
{
GoBack();
}
TurnLeftAnyPulse(36);
}
}
/*
* 前方光电管超声波避障时转向
*/
void PhotoelectricTurn(void){
if(GetPelectricStatus(pelectricpin[0])==false && GetPelectricStatus(pelectricpin[1])==true)
{
TurnRightAnyPulse(25);
}
else if(GetPelectricStatus(pelectricpin[0])==true && GetPelectricStatus(pelectricpin[1])==false )
{
TurnLeftAnyPulse(25);
}
else if(GetPelectricStatus(pelectricpin[0])==false && GetPelectricStatus(pelectricpin[1])==false)
{
for(int i=0;i<60;i++)
{
GoBack();
}
TurnLeftAnyPulse(36);
}
else if(GetPelectricStatus(pelectricpin[0])==true && GetPelectricStatus(pelectricpin[1])==true)
{
TurnLeftAnyPulse(56);
}
}
/*
* //检测中间左QTI是否在黑线内
*/
boolean IsMLeftQtiBlack(void){
if(GetQtiStatus(qtipin[0])==true)
{
delay(2);
if(GetQtiStatus(qtipin[0])==true)
{
return true;
}
else
{
return false;
}
}
else
{
return false;
}
}
/*
* //检测中间右QTI是否在黑线内
*/
boolean IsMRightQtiBlack(void){
if(GetQtiStatus(qtipin[1])==true)
{
delay(2);
if(GetQtiStatus(qtipin[1])==true)
{
return true;
}
else
{
return false;
}
}
else
{
return false;
}
}
/*
* 前方中间QTI循线快速
*/
boolean MoveMiddleQti(void){
if(GetQtiStatus(qtipin[0])==false && GetQtiStatus(qtipin[1])==false)
{
FastGoForward();
}
else if(GetQtiStatus(qtipin[0])==false && GetQtiStatus(qtipin[1])==true)
{
TurnRight();
}
else if(GetQtiStatus(qtipin[0])==true && GetQtiStatus(qtipin[1])==false)
{
TurnLeft();
}
else if(GetQtiStatus(qtipin[0])==true && GetQtiStatus(qtipin[1])==true)
{
return true;
}
return false;
}
/*
* 前方中间QTI循线慢速
*/
boolean MoveQti(void){
if(GetQtiStatus(qtipin[1])==false && GetQtiStatus(qtipin[2])==false)
{
PulseOut(leftservo,1600);
PulseOut(rightservo,1400);
}
else if(GetQtiStatus(qtipin[1])==false && GetQtiStatus(qtipin[2])==true)
{
PulseOut(leftservo,1530);
PulseOut(rightservo,1500);
}
else if(GetQtiStatus(qtipin[1])==true && GetQtiStatus(qtipin[2])==false)
{
PulseOut(leftservo,1500);
PulseOut(rightservo,1470);
}
else if(GetQtiStatus(qtipin[1])==true && GetQtiStatus(qtipin[2])==true)
{
return true;
}
return false;
}
/*
* 前方中间QTI调整
*/
void MiddleQtiAdjust(void){
if(IsMLeftQtiBlack())
{
while(IsMLeftQtiBlack())
{
PulseOut(leftservo,1450);
PulseOut(rightservo,1450);
delay(20);
}
}
else if(IsMRightQtiBlack())
{
while(IsMRightQtiBlack())
{
PulseOut(leftservo,1550);
PulseOut(rightservo,1550);
delay(20);
}
}
Stop();
delay(100);
}
void SetDistance(void){
if(GetPelectricStatus(pelectricpin[0])==true && GetPelectricStatus(pelectricpin[1])==true)
{
if(DistanceDetection()>100){
for(int i=0;i<20;i++)
FastGoForward();
}
else if(DistanceDetection()<100 && DistanceDetection()>10){
for(int i=0;i<10;i++)
FastGoForward();
}
else if(DistanceDetection()<10 && DistanceDetection()>0){
Stop();
delay(100);
PhotoelectricTurn();
}
}
else{
IsPhotoelectric();
}
}
//初始化
void setup(void){
Serial.begin(9600);
InitContinMotorPin(leftservo);
InitContinMotorPin(rightservo);
Stop();
InitBuzzerPin(bell);
InitGasSensor(gaspin[0]);
InitGasSensor(gaspin[1]);
InitFlameSensor(flamepin[0]);
InitFlameSensor(flamepin[1]);
InitFlameSensor(flamepin[2]);
InitPhotoelectric(pelectricpin[0]);
InitPhotoelectric(pelectricpin[1]);
InitSingleQti(qtipin[0]);
InitSingleQti(qtipin[1]);
InitUltrasonic(trig,echo);
InitAngleServo(servopin);
}
//loop循环
void loop(void){
if(Serial.available()>0)
{
char ch = Serial.read();
switch(ch){
case 'A':
Serial.print("A:前进 ");
for(int i=0;i<5;i++)
{
FastGoForward();
}
break;
case 'B':
Serial.print("B:后退");
for(int i=0;i<5;i++)
{
GoBack();
}
break;
case 'C':
Serial.print("C:左转 ");
for(int i=0;i<5;i++)
{
TurnLeft();
}
break;
case 'D':
Serial.print("D:右转");
for(int i=0;i<5;i++)
{
TurnRight();
}
break;
case 'e':
Serial.print("E:QTI寻迹模式");
while(1){
MoveMiddleQti();
char ch = Serial.read();
if(ch=='a') break;
}
break;
case 'f':
Serial.print("F:智能避障模式");
while(1){
SetDistance();
char ch = Serial.read();
if(ch=='a') break;
}
break;
default:
Stop();
break;
}
}
}
//主函数
int main(void){
init();
setup();
InitAngle();
while(1){
IsGasSenser();
IsFlameSenser();
loop();
}
}

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