标题: arduino简单用PWM控制小车制作(加超声波和OLED显示)源程序 [打印本页]

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作者: 13958988573    时间: 2019-8-2 11:08
标题: arduino简单用PWM控制小车制作(加超声波和OLED显示)源程序
只是一个新手，有一些错误及不完善的地方麻烦提一下。亲测是可以简单的实现的。把引脚这些定义到自己创的.h文件有助于整理。

制作出来的实物图如下：


Arduino源程序如下:

1. include"arduino.h"
   
2. 
   
3. #define inputPin A5  //超声波触发引脚
   
4. #define outputPin A4  //超声波接收引脚
   
5. 
   
6. int fm = A0;
   
7. /*int K1;
   
8. int K2;*/
   
9. int limit_switch0 = A1;
   
10. 
    
11. 
    
12. const byte right_motor_encoder_a = 2;
    
13. const byte right_motor_encoder_b = 7;
    
14. const byte left_motor_encoder_a = 3;
    
15. const byte left_motor_encoder_b = 12;
    
16. int Right_motor_go =9; //L298P直流电机驱动板的使能端口连接到数字接口8
    
17. int Right_motor_back =10; //L298P直流电机驱动板的转向端口连接到数字接口9
    
18. int Left_motor_go =5; //L298P直流电机驱动板的使能端口连接到数字接口5
    
19. int Left_motor_back =6; //L298P直流电机驱动板的转向端口连接到数字接口4
    
20. 
    
21. double right_position;//右轮脉冲数
    
22. double right_position_pre;
    
23. double left_position;//左轮脉冲数
    
24. double left_position_pre;
    
25. boolean right_Direction;//右轮旋转方向
    
26. boolean left_Direction;//左轮旋转方向
    
27. double speed_right;
    
28. double speed_left;
    
29. boolean result;
    
30. 
    
31. unsigned long before = 0;
    
32. unsigned long current = 0;
    
33. unsigned long interval = 100;

复制代码

1. #include"zzz.h"
   
2. #include "U8g2lib.h"
   
3. #ifdef U8X8_HAVE_HW_SPI
   
4. #include <SPI.h>
   
5. #endif
   
6. #ifdef U8X8_HAVE_HW_I2C
   
7. #include <Wire.h>
   
8. #endif
   
9. U8G2_SSD1306_128X64_NONAME_1_4W_SW_SPI u8g2(U8G2_R0, /* clock=*/ 13, /* data=*/ 11, /* cs=*/ A3, /* dc=*/ 4, /* reset=*/ 8);
   
10. 
    
11. void setup()
    
12. {  
    
13.    Serial.begin(9600);//Initialize the serial port
    
14.    u8g2.begin();
    
15.    pinMode(fm,OUTPUT);
    
16.    pinMode(inputPin,INPUT_PULLUP);
    
17.    pinMode(outputPin,OUTPUT);
    
18.    //初始化电机驱动IO为输出方式
    
19.    pinMode(Left_motor_go,OUTPUT);
    
20.    pinMode(Left_motor_back,OUTPUT);
    
21.    pinMode(Right_motor_go,OUTPUT);
    
22.    pinMode(Right_motor_back,OUTPUT);
    
23.    pinMode(right_motor_encoder_a,INPUT_PULLUP);
    
24.    pinMode(left_motor_encoder_a,INPUT_PULLUP);
    
25.    pinMode(right_motor_encoder_b,INPUT);
    
26.    pinMode(left_motor_encoder_b,INPUT);
    
27.    pinMode(limit_switch,INPUT);
    
28.    
    
29.    EncoderInit();
    
30. }
    
31. void run()     // 前进
    
32. {
    
33.    digitalWrite(Right_motor_go,HIGH);  // 右电机前进
    
34.    digitalWrite(Right_motor_back,LOW);     
    
35.    analogWrite(Right_motor_go,52);
    
36.    analogWrite(Right_motor_back,0);
    
37.    digitalWrite(Left_motor_go,HIGH);  // 左电机前进
    
38.    digitalWrite(Left_motor_back,LOW);
    
39.    analogWrite(Left_motor_go,64);
    
40.    analogWrite(Left_motor_back,0);
    
41.    
    
42. }
    
43. void r_advance()
    
44. {
    
45. //  digitalWrite(Right_motor_go,HIGH);  // 右电机前进
    
46. //   digitalWrite(Right_motor_back,LOW);     
    
47.    analogWrite(Right_motor_go,80);
    
48.    analogWrite(Right_motor_back,0);
    
49.   // digitalWrite(Left_motor_go,LOW);  // 左电机前进
    
50.   // digitalWrite(Left_motor_back,LOW);
    
51.    analogWrite(Left_motor_go,0);
    
52.    analogWrite(Left_motor_back,30);
    
53. }
    
54. void back()
    
55. {
    
56.    digitalWrite(Right_motor_go,LOW);  // 右电机前进
    
57.    digitalWrite(Right_motor_back,HIGH);     
    
58.    analogWrite(Right_motor_go,0);
    
59.    analogWrite(Right_motor_back,68);
    
60.    digitalWrite(Left_motor_go,LOW);  // 左电机前进
    
61.    digitalWrite(Left_motor_back,HIGH);
    
62.    analogWrite(Left_motor_go,0);
    
63.    analogWrite(Left_motor_back,80);
    
64. }
    
65. 
    
66. void loop()
    
67. {  
    
68.    current = millis();
    
69.    digitalWrite(outputPin, LOW);
    
70.    delayMicroseconds(2);
    
71.    digitalWrite(outputPin, HIGH); // Pulse for 10μs to trigger ultrasonic detection
    
72.    delayMicroseconds(10);
    
73.    digitalWrite(outputPin, LOW);
    
74.    const unsigned long duration = pulseIn(inputPin, HIGH);// Read receiver pulse time
    
75.    int distance = duration/58 ; // Transform pulse time to distance
    
76.    if ( duration == 0 ){
    
77.    Serial.println( "Warning: no pulse from sensor");
    
78.    }
    
79.    else{
    
80.    Serial.print ( "distance is:" );
    
81.    Serial.println ( distance );
    
82.    }
    
83.    delay(100);
    
84. 
    
85.    if(distance<30){
    
86.     back();
    
87.     delay(500);
    
88.     r_advance();
    
89.     delay(300);
    
90.     run();
    
91.    }
    
92.    else{
    
93.    run();
    
94.    }
    
95.    if(distance<10){
    
96.     back();
    
97.     delay(1000);
    
98.     r_advance();
    
99.     delay(300);
    
100.     run();
     
101.    }
     
102.    /*int i = analogRead(limit_switch);
     
103.    if(i==0){
     
104.         back();
     
105.         delay(600);
     
106.    }*/
     
107.    
     
108.   if((current=millis())-before > interval)
     
109.       {
     
110.         before = current;
     
111.         Serial.print("left speed is:");
     
112.         Serial.println(speed_left);
     
113.         Serial.print("right speed is:");
     
114.         Serial.println(speed_right);
     
115.         speed_left=abs(left_position - left_position_pre)/300;
     
116.         speed_right=abs(right_position - right_position_pre)/300;
     
117.         left_position_pre = left_position;
     
118.         right_position_pre = right_position;
     
119.       }
     
120.   u8g2.firstPage();
     
121.   do {
     
122.       u8g2.setFont(u8g2_font_courR12_tr);
     
123.       u8g2.setCursor(0,15);
     
124.       u8g2.print("distance:");
     
125.       u8g2.setCursor(0,30);
     
126.       u8g2.print(distance);
     
127.       u8g2.print("cm");
     
128.       u8g2.setCursor(0,45);
     
129.       u8g2.print("l_s:");
     
130.       u8g2.print((float)speed_left,2);     
     
131.       u8g2.setCursor(0,60);
     
132.       u8g2.print("r_s:");
     
133.       u8g2.print((float)speed_right,2);   
     
134.    } while ( u8g2.nextPage() );
     
135.    delay(1000);
     
136.    if(speed_left=0){
     
137.     digitalWrite(fm,HIGH);
     
138.    }
     
139.     else{
     
140.     digitalWrite(fm,LOW);
     
141.    }
     
142. }
     
143.    /*if(speed_left>speed_right){
     
144.     r_pwm++;
     
145.    }else{
     
146.     r_pwm++;
     
147.    }
     
148.    else if(speed_left=speed_right)
     
149.    r_pwm=r_pwm;
     
150.    }*/
     
151. void EncoderInit()
     
152. {
     
153.   right_Direction = true;//default -> Forward  
     
154.   pinMode(right_motor_encoder_b,OUTPUT);  
     
155.   attachInterrupt(digitalPinToInterrupt(2), right_Speed, RISING);
     
156.   left_Direction = true;//default -> Forward  
     
157.   pinMode(left_motor_encoder_b,OUTPUT);  
     
158.   attachInterrupt(digitalPinToInterrupt(3), left_Speed, RISING);
     
159. }
     
160. 
     
161. void  left_Speed()
     
162. {
     
163.     //Serial.println("left interrupt is ok");
     
164.     int a = digitalRead(left_motor_encoder_a);
     
165.     int b = digitalRead(left_motor_encoder_b);
     
166.     if((a==HIGH&&b==LOW)||(a==LOW&&b==HIGH)){
     
167.       left_position++;
     
168.     }
     
169.     else if((a==HIGH&&b==HIGH)||(a==LOW&&b==LOW)){
     
170.           left_position--;
     
171.       }
     
172. }
     
173. 
     
174. void  right_Speed()
     
175. {
     
176.      //Serial.println("right interrupt is ok");
     
177.      int c = digitalRead(right_motor_encoder_a);
     
178.      int d = digitalRead(right_motor_encoder_b);
     
179.      if((c==HIGH&&d==LOW)||(c==LOW&&d==HIGH)){
     
180.        right_position++;
     
181.       }
     
182.       else if((c==HIGH&&d==HIGH)||(c==LOW&&d==LOW)){
     
183.           right_position--;
     
184.         }
     
185. }

复制代码

自己做的小车 有点丑
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