arduino平衡车超声波_自己做的arduino超声波小车
该楼层疑似违规已被系统折叠 隐藏此楼查看此楼
#define DEBUG 0 // set to 1 to print to serial monitor, 0 to disable
#include
Servo headservo; // 头部舵机对象
// Constants
const int EchoPin = 2; //超声波信号输入
const int TrigPin = 3; //超声波控制信号输出
const int leftmotorpin1 = 4; // 直流电机信号输出
const int leftmotorpin2 = 5;
const int rightmotorpin1 = 6;
const int rightmotorpin2 = 7;
const int HeadServopin = 9; // 舵机信号输出 只有9或10接口可利用
const int Sharppin = 11; // 红外输入
const int maxStart = 800; //run dec time
// Variables
int isStart = maxStart; //启动
int currDist = 0; // 距离
boolean running = false;
void setup() {
Serial.begin(9600); // 开始串行监测
//信号输入接口
pinMode(EchoPin, INPUT);
pinMode(Sharppin, INPUT);
//信号输出接口
for (int pinindex = 3; pinindex < 11; pinindex++) {
pinMode(pinindex, OUTPUT); // set pins 3 to 10 as outputs
}
//舵机接口
headservo.attach(HeadServopin);
//启动缓冲活动头部
headservo.write(70);
delay(2000);
headservo.write(20);
delay(2000);
}
void loop() {
if(DEBUG){
Serial.print("running:");
if(running){
Serial.println("true");
}
else{
Serial.println("false");
}
}
if (isStart <= 0) {
if(running){
totalhalt(); // stop!
}
int findsomebody = digitalRead(Sharppin);
if(DEBUG){
Serial.print("findsomebody:");
Serial.println(findsomebody);
}
if(findsomebody > 0) {
isStart = maxStart;
}
delay(4000);
return;
}
isStart--;
delay(100);
if(DEBUG){
Serial.print("isStart: ");
Serial.println(isStart);
}
currDist = MeasuringDistance(); //读取前端距离
if(DEBUG){
Serial.print("Current Distance: ");
Serial.println(currDist);
}
if(currDist > 30) {
nodanger();
}
else if(currDist < 15){
backup();
randTrun();
}
else {
//whichway();
randTrun();
}
}
//测量距离 单位厘米
long MeasuringDistance() {
long duration;
//pinMode(TrigPin, OUTPUT);
digitalWrite(TrigPin, LOW);
delayMicroseconds(2);
digitalWrite(TrigPin, HIGH);
delayMicroseconds(5);
digitalWrite(TrigPin, LOW);
//pinMode(EchoPin, INPUT);
duration = pulseIn(EchoPin, HIGH);
return duration / 29 / 2;
}
// 前进
void nodanger() {
running = true;
digitalWrite(leftmotorpin1, LOW);
digitalWrite(leftmotorpin2, HIGH);
digitalWrite(rightmotorpin1, LOW);
digitalWrite(rightmotorpin2, HIGH);
return;
}
//后退
void backup() {
running = true;
digitalWrite(leftmotorpin1, HIGH);
digitalWrite(leftmotorpin2, LOW);
digitalWrite(rightmotorpin1, HIGH);
digitalWrite(rightmotorpin2, LOW);
delay(1000);
}
//选择路线
void whichway() {
running = true;
totalhalt(); // first stop!
headservo.write(20);
delay(1000);
int lDist = MeasuringDistance(); // check left distance
totalhalt(); // 恢复探测头
headservo.write(120); // turn the servo right
delay(1000);
int rDist = MeasuringDistance(); // check right distance
totalhalt(); // 恢复探测头
if(lDist < rDist) {
body_lturn();
}
else{
body_rturn();
}
return;
}
//重新机械调整到初始状态
void totalhalt() {
digitalWrite(leftmotorpin1, HIGH);
digitalWrite(leftmotorpin2, HIGH);
digitalWrite(rightmotorpin1, HIGH);
digitalWrite(rightmotorpin2, HIGH);
headservo.write(70); // set servo to face forward
running = false;
return;
delay(1000);
}
//左转
void body_lturn() {
running = true;
digitalWrite(leftmotorpin1, LOW);
digitalWrite(leftmotorpin2, HIGH);
digitalWrite(rightmotorpin1, HIGH);
digitalWrite(rightmotorpin2, LOW);
delay(1500);
totalhalt();
}
//右转
void body_rturn() {
running = true;
digitalWrite(leftmotorpin1, HIGH);
digitalWrite(leftmotorpin2, LOW);
digitalWrite(rightmotorpin1, LOW);
digitalWrite(rightmotorpin2, HIGH);
delay(1500);
totalhalt();
}
void randTrun(){
long randNumber;
randomSeed(analogRead(0));
randNumber = random(0, 10);
if(randNumber > 5) {
body_rturn();
}
else
{
body_lturn();
}
}
本文来自互联网用户投稿，文章观点仅代表作者本人，不代表本站立场，不承担相关法律责任。如若转载，请注明出处。 如若内容造成侵权/违法违规/事实不符，请点击【内容举报】进行投诉反馈！