国外找的arduino循迹智能车安装方法及代码 -

/* Arduino Object Avoidance Car
* By Kevin Cho
*
* Inspired by http://www.instructables.com/id/Simple-Arduino-and-HC-SR04-Example/
* PWM setup value from :http://playground.arduino.cc/Code/PwmFrequency
*
* This code allows an Arduino Smart employing HC-SR04 Ping distance sensor to identify an obstacle on its path and turns
* left to avoid it.
*
* ===== Ultrasonic Sensor (HC-SR04) =====
* pins:
* Echo to digital input (see pin assignment below)
* Trig to digital input (see ping assignmanet below)
*
* ===== motor output =====
* 3 outputs for the left motor control
* 3 outputs for the right motor control
*
* See below for pin assignment for Arduino digital ports.
* PWM control must be on PWM pins 3, 5, 6, 9, 10 and 11.
*/
//Pin assignment
const int usTrigPin = 3; //connects to Arduino digital pin #2
const int usEchoPin = 4; //connects to Arduino digital pin #3
const int lMotPos = 6; //left motor(+)
const int lMotNeg = 7; //left motor(-1)
const int rMotNeg = 8; //right motor (-1)
const int rMotPos = 11; //right motor (+1)
const int led = 13; //Arduino built-in led. No connection required
//operational parameters
const int paceOfSound = 29.15; //pace of sound = 1/speed of sound
// = 1/0.03435 cm/ss
// = 29.15 us/cm
//CALIBRATION
int turningPoint = 20; //turn when an obstacle is within 20cm (approx 8in)
//wait 100msec until next sensor check.
int sensDelay = 100;
//used only in testing phase
boolean DEBUG = false; //change to true when debuging. See serial monitor for log
// the setup routine runs once when you press reset or power on
void setup() {
//set digital pin modes for ultrasonic sensors
pinMode(usTrigPin, OUTPUT);
pinMode(usEchoPin, INPUT);
//set digital pin mode for built-in led
pinMode(led, OUTPUT);
if (DEBUG) Serial.begin (115200); //set the serial monitor transfer speed
delay (1000); //wait 1 sec before going
}
void loop() {
int distance;
// call getDistance to get the distance to an obstacle. Ignore anything farther than 100cm
distance = getDistance();
if (distance >= turningPoint || distance <= 0) {
goForward();
digitalWrite(led, LOW); //led off
} else {
if (DEBUG) {
Serial.println("Alert: Turn left");
}
turnLeft();
digitalWrite(led, HIGH); //led on
}
delay(sensDelay);
}
int getDistance() {
long duration, distance;
digitalWrite(usTrigPin, LOW); // Added this line
delayMicroseconds(2); // Added this line
//send 10 micro second pulse to trigger
digitalWrite(usTrigPin, HIGH);
delayMicroseconds(10); // Added this line per spec (spec says at least 10us)
digitalWrite(usTrigPin, LOW);
//Below step wait for HIGH upto a second (default) on the Echo pin before timing out.
duration = pulseIn(usEchoPin, HIGH); //wait for HIGH
//calculate the distance in cm
distance = (duration/2) / paceOfSound;
//We don't care about distance of more than 100cm
if (distance >= 100 || distance <= 0){
if (DEBUG) Serial.println("getDistance: Out of range");
return 0;
} else {
if (DEBUG) {
Serial.print("getDistance: ");
Serial.print(distance);
Serial.println(" cm");
}
return distance;
}
}
void goForward ()
{
digitalWrite (lMotNeg, LOW);
digitalWrite (lMotPos, HIGH);
digitalWrite (rMotNeg, LOW);
digitalWrite (rMotPos, HIGH);
}
void turnLeft ()
{
digitalWrite (lMotNeg, HIGH);
digitalWrite (lMotPos, LOW);
digitalWrite (rMotNeg, LOW);
digitalWrite (rMotPos, HIGH);
}
void turnRight ()
{
digitalWrite (lMotNeg, LOW);
digitalWrite (lMotPos, HIGH);
digitalWrite (rMotNeg, HIGH);
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