arduino智能红外避障小车原理图与源码 -

//============================智宇科技===========================
// 智能小车红外避障实验1（基础避障）
//===============================================================
//#include <Servo.h>
int Left_motor_go=8; //左电机前进(IN1)
int Left_motor_back=9; //左电机后退(IN2)
int Right_motor_go=10; // 右电机前进(IN3)
int Right_motor_back=11; // 右电机后退(IN4)
int key=7;//定义按键数字7 接口
int beep=12;//定义蜂鸣器数字12 接口
const int SensorRight = 3; //右循迹红外传感器(P3.2 OUT1)
const int SensorLeft = 4; //左循迹红外传感器(P3.3 OUT2)
const int SensorRight_2 = 5; //右红外传感器(P3.4 OUT3)
const int SensorLeft_2 = 6; //左红外传感器(P3.5 OUT4)
int SL; //左循迹红外传感器状态
int SR; //右循迹红外传感器状态
int SL_2; //左红外传感器状态
int SR_2; //右红外传感器状态
void setup()
{
//初始化电机驱动IO为输出方式
pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM)
pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)
pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM)
pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM)
pinMode(key,INPUT);//定义按键接口为输入接口
pinMode(beep,OUTPUT);
pinMode(SensorRight, INPUT); //定义右循迹红外传感器为输入
pinMode(SensorLeft, INPUT); //定义左循迹红外传感器为输入
pinMode(SensorRight_2, INPUT); //定义右红外传感器为输入
pinMode(SensorLeft_2, INPUT); //定义左红外传感器为输入
}
//=======================智能小车的基本动作=========================
//void run(int time) // 前进
void run() // 前进
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);//PWM比例0~255调速，左右轮差异略增减
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // 左电机前进
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减
analogWrite(Left_motor_back,200);
//delay(time * 100); //执行时间，可以调整
}
void brake(int time) //刹车，停车
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
delay(time * 100);//执行时间，可以调整
}
//void left(int time) //左转(左轮不动，右轮前进)
void left() //左转(左轮不动，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);
analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_left(int time) //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);
analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,200);
analogWrite(Left_motor_back,0);//PWM比例0~255调速
delay(time * 100); //执行时间，可以调整
}
//void right(int time)
void right() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,200);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_right(int time) //右转(右轮后退，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,200);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,200);//PWM比例0~255调速
delay(time * 100); //执行时间，可以调整
}
void back(int time) //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,150);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,150);
analogWrite(Left_motor_back,0);//PWM比例0~255调速
delay(time * 100); //执行时间，可以调整
}
//==========================================================
void keysacn()//按键扫描
{
int val;
val=digitalRead(key);//读取数字7 口电平值赋给val
while(!digitalRead(key))//当按键没被按下时，一直循环
{
val=digitalRead(key);//此句可省略，可让循环跑空
}
while(digitalRead(key))//当按键被按下时
{
delay(10); //延时10ms
val=digitalRead(key);//读取数字7 口电平值赋给val
if(val==HIGH) //第二次判断按键是否被按下
{
digitalWrite(beep,HIGH); //蜂鸣器响
while(!digitalRead(key)) //判断按键是否被松开
digitalWrite(beep,LOW); //蜂鸣器停止
}
else
digitalWrite(beep,LOW);//蜂鸣器停止
}
}
void loop()
{
keysacn(); //调用按键扫描函数
while(1)
{
//有信号为LOW 没有信号为HIGH
SR_2 = digitalRead(SensorRight_2);
SL_2 = digitalRead(SensorLeft_2);
if (SL_2 == HIGH&&SR_2==HIGH)//前面没有障碍物
run(); //调用前进函数
else if (SL_2 == HIGH & SR_2 == LOW)// 右边探测到有障碍物，有信号返回，向左转
left();//调用左转函数
else if (SR_2 == HIGH & SL_2 == LOW) //左边探测到有障碍物，有信号返回，向右转
right();//调用右转函数
else // 都是有障碍物, 后退
{
back(3);//后退300MS
left();//调用左转函数
delay(500); //延时500ms
}
}
}

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