Arduino智慧小車--只是隨便一搞
阿新 • • 發佈：2019-02-11
在某寶寶買的智慧小車，挺精緻的，開心的連線上印表機的線，結果埠都沒有反應，
查了一下發現是少了驅動，博主用的mac os10.12.3
安裝好之後我們再啟動arduino 就可以看到新的埠了，選擇他，我們就可以進行上傳程式碼了。
只是對附贈原始碼進行了一下整理。。。
連結: https://pan.baidu.com/s/1dFwzx53 密碼: 2aju
#include <IRremote.h>//包含紅外庫 關鍵點 int RECV_PIN = A4;//埠宣告 IRrecv irrecv(RECV_PIN); decode_results results;//結構宣告 int on = 0;//標誌位 unsigned long last = millis(); long run_car = 0x00FF629D;//按鍵CH long back_car = 0x00FFA857;//按鍵+ long left_car = 0x00FF22DD;//按鍵<< long right_car = 0x00FFC23D;//按鍵>|| long stop_car = 0x00FF02FD;//按鍵>>| long left_turn = 0x00ffE01F;//按鍵- long right_turn = 0x00FF906F;//按鍵EQ //避障開關 long avoidopen = 0x00FF42BD;//按鍵7 long trackingopen = 0x00FF52AD;//按鍵9 //============================== int Left_motor_go=8; //左電機前進(IN1) int Left_motor_back=9; //左電機後退(IN2) int Right_motor_go=10; // 右電機前進(IN3) int Right_motor_back=11; // 右電機後退(IN4) //避障 int key=A2;//定義按鍵 數字A2 介面 int beep=A3;//定義蜂鳴器 數字A3 介面 int LED=7;//定義LED 數字7 介面 const int SensorRight_2 = 5; //中間紅外避障感測器(P3.4 OUT3) int SR_2; //右紅外感測器狀態 //循跡 const int SensorRight = 3; //右循跡紅外感測器(P3.2 OUT1) const int SensorLeft = 4; //左循跡紅外感測器(P3.3 OUT2) int SL; //左循跡紅外感測器狀態 int SR; //右循跡紅外感測器狀態 void setup() { //初始化電機驅動IO為輸出方式 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(13, OUTPUT);////埠模式，輸出 Serial.begin(9600); //波特率9600 irrecv.enableIRIn(); // Start the receiver //避障 pinMode(key,INPUT);//定義按鍵介面為輸入介面 pinMode(beep,OUTPUT);//定義蜂鳴器為輸出介面 pinMode(LED,OUTPUT);//定義LED為輸出介面 pinMode(SensorRight, INPUT); //定義右循跡紅外感測器為輸入 pinMode(SensorLeft, INPUT); //定義左循跡紅外感測器為輸入 } void run() // 前進 { digitalWrite(Right_motor_go,HIGH); // 右電機前進 digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,200);//PWM比例0~255調速，左右輪差異略增減 //analogWrite(Right_motor_back,0); digitalWrite(Left_motor_go,LOW); // 左電機前進 digitalWrite(Left_motor_back,HIGH); //analogWrite(Left_motor_go,0);//PWM比例0~255調速，左右輪差異略增減 //analogWrite(Left_motor_back,200); //delay(time * 100); //執行時間，可以調整 } void brake(int time) //剎車，停車 { digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); delay(time * 100);//執行時間，可以調整 } void left(int time) //左轉(左輪不動，右輪前進) { digitalWrite(Right_motor_go,HIGH); // 右電機前進 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,200); analogWrite(Right_motor_back,0);//PWM比例0~255調速 digitalWrite(Left_motor_go,LOW); //左輪後退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,0);//PWM比例0~255調速 delay(time * 100); //執行時間，可以調整 } void spin_left(int time) //左轉(左輪後退，右輪前進) { digitalWrite(Right_motor_go,HIGH); // 右電機前進 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,200); analogWrite(Right_motor_back,0);//PWM比例0~255調速 digitalWrite(Left_motor_go,HIGH); //左輪後退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,200); analogWrite(Left_motor_back,0);//PWM比例0~255調速 delay(time * 100); //執行時間，可以調整 } void spin_right(int time) //右轉(右輪後退，左輪前進) { digitalWrite(Right_motor_go,LOW); //右電機後退 digitalWrite(Right_motor_back,HIGH); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,200);//PWM比例0~255調速 digitalWrite(Left_motor_go,LOW);//左電機前進 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,200);//PWM比例0~255調速 delay(time * 100); //執行時間，可以調整 } void back(int time) //後退 { digitalWrite(Right_motor_go,LOW); //右輪後退 digitalWrite(Right_motor_back,HIGH); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,150);//PWM比例0~255調速 digitalWrite(Left_motor_go,HIGH); //左輪後退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,150); analogWrite(Left_motor_back,0);//PWM比例0~255調速 delay(time * 100); //執行時間，可以調整 } void brake() //剎車，停車 { digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); //delay(time * 100);//執行時間，可以調整 } void left() //左轉(左輪不動，右輪前進) { digitalWrite(Right_motor_go,HIGH); // 右電機前進 digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,200); //analogWrite(Right_motor_back,0);//PWM比例0~255調速 digitalWrite(Left_motor_go,LOW); //左輪後退 digitalWrite(Left_motor_back,LOW); //analogWrite(Left_motor_go,0); //analogWrite(Left_motor_back,0);//PWM比例0~255調速 //delay(time * 100); //執行時間，可以調整 } void spin_left() //左轉(左輪後退，右輪前進) { digitalWrite(Right_motor_go,HIGH); // 右電機前進 digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,200); //analogWrite(Right_motor_back,0);//PWM比例0~255調速 digitalWrite(Left_motor_go,HIGH); //左輪後退 digitalWrite(Left_motor_back,LOW); //analogWrite(Left_motor_go,200); //analogWrite(Left_motor_back,0);//PWM比例0~255調速 //delay(time * 100); //執行時間，可以調整 } void right() //右轉(右輪不動，左輪前進) { digitalWrite(Right_motor_go,LOW); //右電機後退 digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,0); //analogWrite(Right_motor_back,0);//PWM比例0~255調速 digitalWrite(Left_motor_go,LOW);//左電機前進 digitalWrite(Left_motor_back,HIGH); //analogWrite(Left_motor_go,0); // analogWrite(Left_motor_back,200);//PWM比例0~255調速 // delay(time * 100); //執行時間，可以調整 } void spin_right() //右轉(右輪後退，左輪前進) { digitalWrite(Right_motor_go,LOW); //右電機後退 digitalWrite(Right_motor_back,HIGH); //analogWrite(Right_motor_go,0); //analogWrite(Right_motor_back,200);//PWM比例0~255調速 digitalWrite(Left_motor_go,LOW);//左電機前進 digitalWrite(Left_motor_back,HIGH); //analogWrite(Left_motor_go,0); //analogWrite(Left_motor_back,200);//PWM比例0~255調速 //delay(time * 100); //執行時間，可以調整 } void back() //後退 { digitalWrite(Right_motor_go,LOW); //右輪後退 digitalWrite(Right_motor_back,HIGH); //analogWrite(Right_motor_go,0); //analogWrite(Right_motor_back,150);//PWM比例0~255調速 digitalWrite(Left_motor_go,HIGH); //左輪後退 digitalWrite(Left_motor_back,LOW); //analogWrite(Left_motor_go,150); //analogWrite(Left_motor_back,0);//PWM比例0~255調速 //delay(time * 100); //執行時間，可以調整 } void dump(decode_results *results) { int count = results->rawlen; if (results->decode_type == UNKNOWN) { //Serial.println("Could not decode message"); brake(); } //串列埠列印，除錯時可以開啟，實際執行中會影響反應速度，建議遮蔽 /* else { if (results->decode_type == NEC) { Serial.print("Decoded NEC: "); } else if (results->decode_type == SONY) { Serial.print("Decoded SONY: "); } else if (results->decode_type == RC5) { Serial.print("Decoded RC5: "); } else if (results->decode_type == RC6) { Serial.print("Decoded RC6: "); } Serial.print(results->value, HEX); Serial.print(" ("); Serial.print(results->bits, DEC); Serial.println(" bits)"); } Serial.print("Raw ("); Serial.print(count, DEC); Serial.print("): "); for (int i = 0; i < count; i++) { if ((i % 2) == 1) { Serial.print(results->rawbuf[i]*USECPERTICK, DEC); } else { Serial.print(-(int)results->rawbuf[i]*USECPERTICK, DEC); } Serial.print(" "); } Serial.println(""); */ } //========================================================== //避障改為遙控器，此處可以忽略掉 void keysacn()//按鍵掃描 { int val; val=digitalRead(key);//讀取數字7 口電平值賦給val while(!digitalRead(key))//當按鍵沒被按下時，一直迴圈 { val=digitalRead(key);//此句可省略，可讓迴圈跑空 } while(digitalRead(key))//當按鍵被按下時 { delay(10); //延時10ms val=digitalRead(key);//讀取數字7 口電平值賦給val if(val==HIGH) //第二次判斷按鍵是否被按下 { digitalWrite(beep,HIGH); //蜂鳴器響 while(!digitalRead(key)) //判斷按鍵是否被鬆開 digitalWrite(beep,LOW); //蜂鳴器停止 } else digitalWrite(beep,LOW);//蜂鳴器停止 } } //避障程式 void avoid() { //修改為遙控器控制 //keysacn(); //呼叫按鍵掃描函式 while(1) { //有訊號為LOW 沒有訊號為HIGH 有障礙物輸出0 沒有障礙物輸出1 SR_2 = digitalRead(SensorRight_2); if (SR_2==HIGH)//前面沒有障礙物 { run(); //呼叫前進函式 digitalWrite(beep,LOW); //蜂鳴器不響 digitalWrite(LED,LOW); //LED不亮 } else if ( SR_2 == LOW)// 前面探測到有障礙物，有訊號返回 { digitalWrite(beep,HIGH); //蜂鳴器響 digitalWrite(LED,HIGH); //LED亮 brake(3);//停止300MS back(4);//後退400MS left(5);//呼叫左轉函式 延時500ms } } } void tracking(){ while(1) { //有訊號為LOW 沒有訊號為HIGH 檢測到黑線 輸出高 檢測到白色區域輸出低 SR = digitalRead(SensorRight);//有訊號表明在白色區域，車子底板上L1亮；沒訊號表明壓在黑線上，車子底板上L1滅 SL = digitalRead(SensorLeft);//有訊號表明在白色區域，車子底板上L2亮；沒訊號表明壓在黑線上，車子底板上L2滅 if (SL == LOW&&SR==LOW) run(); //呼叫前進函式 else if (SL == HIGH & SR == LOW)// 左循跡紅外感測器,檢測到訊號，車子向右偏離軌道，向左轉 left(); else if (SR == HIGH & SL == LOW) // 右循跡紅外感測器,檢測到訊號，車子向左偏離軌道，向右轉 right(); else // 都是黑色, 停止 brake(); } } void loop() { if (irrecv.decode(&results)) //呼叫庫函式：解碼 { // If it's been at least 1/4 second since the last // IR received, toggle the relay if (millis() - last > 250) //確定接收到訊號 { on = !on;//標誌位置反 digitalWrite(13, on ? HIGH : LOW);//板子上接收到訊號閃爍一下led dump(&results);//解碼紅外訊號 } if (results.value == run_car )//按鍵CH run();//前進 if (results.value == back_car )//按鍵+ back();//後退 if (results.value == left_car )//按鍵<< left();//左轉 if (results.value == right_car )//按鍵>|| right();//右轉 if (results.value == stop_car )//按鍵>>| brake();//停車 if (results.value == left_turn )//按鍵- spin_left();//左旋轉 if (results.value == right_turn )//按鍵EQ spin_right();//右旋轉 if (results.value == avoidopen)//按鍵7 avoid();// 開啟智慧避障 if (results.value == trackingopen)//按鍵9 tracking(); last = millis(); irrecv.resume(); // Receive the next value } }