单片机源程序如下:
- //============================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
- }
- }
- }
复制代码
|