基于arduino单片机的寻迹小车程序源码

基于arduino单片机的寻迹小车程序源码

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2017-11-3 14:17 上传

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arduino源程序如下:

1. //R是右(right),L是左(left)小车对着自己看时分的左右
   
2. int IN1=10;
   
3. int IN2=11;//左轮
   
4. int IN3=12;
   
5. int IN4=13;//右轮
   
6. const int SensorLeft1=A3;//左感測器輸入腳
   
7. const int SensorLeft2=A4;
   
8. const int SensorRight1=A6;//右感測器輸入腳
   
9. const int SensorRight2=A5;
   
10. const int ENA=6;
    
11. const int ENB=5;
    
12. int SL1;
    
13. int SL2;//左感測器狀態
    
14. int SR1;
    
15. int SR2;//右感測器狀態
    
16. void setup()
    
17. {
    
18. Serial.begin(9600);
    
19. pinMode(IN1,OUTPUT);
    
20. pinMode(IN2,OUTPUT);
    
21. pinMode(IN3,OUTPUT);
    
22. pinMode(IN4,OUTPUT);
    
23. pinMode(SensorLeft1,INPUT);
    
24. pinMode(SensorLeft2,INPUT);
    
25. pinMode(SensorRight1,INPUT);
    
26. pinMode(SensorRight2,INPUT);
    
27. }
    
28. void loop()
    
29. {
    
30. SL1=digitalRead(SensorLeft1);
    
31. SL2=digitalRead(SensorLeft2);
    
32. SR1=digitalRead(SensorRight1);
    
33. SR2=digitalRead(SensorRight2);
    
34. if (SL1==LOW &&SL2==LOW&& SR1==LOW&& SR2==LOW)//前进
    
35. {
    
36. analogWrite(ENA,150);
    
37. analogWrite(ENB,150);
    
38. digitalWrite(IN1,HIGH);//IN1左电机高电平正转
    
39. digitalWrite(IN2,LOW);//IN2左电机高电平反转
    
40. digitalWrite(IN3,HIGH);//IN3右电机高电平反转
    
41. digitalWrite(IN4,LOW);//IN4右电机高电平正转
    
42. }
    
43. else // R是右(right),L是左(left)小车对着自己看时分的左右
    
44. if (SL1==HIGH&&SL2==HIGH&&SR1==LOW&&SR2==LOW)//左白右黑,快速左转
    
45. {
    
46. delay(1);
    
47. analogWrite(ENA,150);
    
48. analogWrite(ENB,150);
    
49. digitalWrite(IN1,HIGH);//IN3左电机高电平正转
    
50. digitalWrite(IN2,LOW);//IN4左电机高电平反转
    
51. digitalWrite(IN3,LOW);//IN1右电机高电平反转
    
52. digitalWrite(IN4,HIGH);//IN2右电机高电平正转
    
53. }
    
54. else
    
55. if (SL1==LOW&SL2 == LOW&SR1 == HIGH&SR2==HIGH) //左黑右白,快速右转
    
56. {delay(1);
    
57. analogWrite(ENA,150);
    
58. analogWrite(ENB,150);
    
59. digitalWrite(IN1,LOW);//IN3左电机高电平正转
    
60. digitalWrite(IN2,HIGH);//IN4左电机高电平反转
    
61. digitalWrite(IN3,HIGH);//IN1右电机高电平反转
    
62. digitalWrite(IN4,LOW);//IN2右电机高电平正转
    
63. }
    
64. else
    
65. if (SL1==HIGH&&SL2==LOW&&SR1==LOW&&SR2==LOW)//左白右黑,慢速左转
    
66. {
    
67. delay(1);
    
68. analogWrite(ENA,100);
    
69. analogWrite(ENB,100);
    
70. digitalWrite(IN1,HIGH);//IN3左电机高电平正转
    
71. digitalWrite(IN2,LOW);//IN4左电机高电平反转
    
72. digitalWrite(IN3,LOW);//IN1右电机高电平反转
    
73. digitalWrite(IN4,HIGH);//IN2右电机高电平正转
    
74. }
    
75. else
    
76. if (SL1==LOW&SL2 == LOW&SR1 == LOW&SR2==HIGH) //左黑右白,慢速右转
    
77. {delay(1);
    
78. analogWrite(ENA,100);
    
79. analogWrite(ENB,100);
    
80. digitalWrite(IN1,LOW);//IN3左电机高电平正转
    
81. digitalWrite(IN2,HIGH);//IN4左电机高电平反转
    
82. digitalWrite(IN3,HIGH);//IN1右电机高电平反转
    
83. digitalWrite(IN4,LOW);//IN2右电机高电平正转
    
84. }
    
85. else//都是白色, 停止
    
86. {
    
87. analogWrite(ENA,0);
    
88. analogWrite(ENB,0);
    
89. digitalWrite(IN1,LOW);
    
90. digitalWrite(IN2,LOW);
    
91. digitalWrite(IN3,LOW);
    
92. digitalWrite(IN4,LOW);
    
93. }}
    

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