arduino小车代码

1、避障代码#inelude <Servo.h>定义四种状态#define STOP 0#define FORWARD 1#define BACKWARD 2#define TURNLEFT 3#define TURNRIGHT 4引脚初始化int leftMotorl = 4;int leftMotor2 = 5;int rightMotorl = 6;int rightMotor2 = 7;舵机引脚初始化int inputPin 二 8;int outputPin = 12;Servo myServo;void setup() myServo.attach(9); /测速引脚初始化

2、 pinModefleftMotorl, OUTPUT); pinMode(leftMotor2, OUTPUT); pinModefrightMotorl, OUTPUT); pinMode(rightMotor2, OUTPUT);pinMode(inputPinz INPUT); pinMode(outputPin, OUTPUT);void loop() avoida nce();void motorRun(int emd)switch(cmd)case FORWARD: analogWrite(leftMotorlz 50); analogWrite(leftMotor2z 0);

3、analogWrite(rightMotorl, 50); analogWrite(rightMotor2/ 0); break;case BACKWARD: analogWrite(leftMotorlz 0); analogWrite(leftMotor2z 50); analogWrite(rightMotorl, 0); analogWrite(rightMotor2/ 50); break;case TURNLEFT: analogWrite(leftMotorlz 0); analogWrite(leftMotor2,150); analogWrite(rightMotorl,15

4、0); analogWrite(rightMotor2/ 0); break;case TURNRIGHT: analogWrite(leftMotorlz 150); analogWrite(leftMotor2z 0); analogWrite(rightMotorl, 0); analogWrite(rightMotor2/ 150); break;default: analogWrite(leftMotorlz 0); analogWrite(leftMotor2z 0); analogWrite(rightMotorl, 0); analogWrite(rightMotor2/ 0)

5、; break;void avoidance()int pos;int dis;距离 motorRun(FORWARD);myServo.write(90); disl=getDistance(); / 中间if(disl<20)motorRun(STOP);for (pos = 90; pos <= 170; pos += 1)myServo.write(pos);/ 将舵机转到 “pos” 的位置delay(15);dis2=getDistance(); 左边for (pos = 170; pos >= 10; pos -= 1)myServo.write(pos);/

6、将舵机转到 “pos” 的位置delay(15);if(pos=90)disl=getDistance(); 中间disO=getDistance(); 右边for (pos = 10; pos <= 90; pos += 1)myServo.write(pos);/ 将舵机转到 “pos” 的位置if(dis0<dis2) /右边距离障碍的距离比左边近左转motorRun(TURNLEFT);delay(600);else 右边距离障碍的距离比左边远右转motorRun(TURNRIGHT);delay(600); int getDistance()digitalWrite(ou

7、tputPin, LOW);/使发出发出超声波信号接【I低电平2 us delayMicrosec on ds(2);digitalWrite(outputPinz HIGH);/使发出发出超声波信号接口高电平10 us,这里是至少10delayMicroseconds(lO);digitalWrite(outputPin, LOW);/保持发出超声波信号接I I低电平 int distance = pulseln(inputPin, HIGH); / 读出脉冲时间 distance distance力8; 将脉冲时间转化为距离(单位：厘米)return distanee;舵机模块连接方式GN

8、D：接开发板GND引脚VCC：接开发板“5V”弓|脚Echo：接开发板8号引脚Trig：接开发板12号引脚前进代码引脚初始化int leftMotorl = 4;int leftMotor2 = 5;int rightMotorl = 6;int rightMotor2 = 7;void setup() pinModefleftMotorl, OUTPUT); pinMode(leftMotor2, OUTPUT); pinModefrightMotorl, OUTPUT); pinMode(rightMotor2, OUTPUT);void loop() analogWrite(leftMo

9、torl, 100); analogWrite(leftMotor2/ 0); analogWrite(rightMotorl, 100);a na log Write (r ight M otor2, 0);蓝牙小车定义四种状态#define Stop 'O'#define Forward T#define Backward 2#define Turnleft '3'#define Turnright *4'引脚初始化int leftMotorl = 4;int leftMotor2 = 5;int rightMotorl = 6;int rightM

10、otor2 = 7;void setup() Serial.begin(9600);pinMode(leftMotorl, OUTPUT);pinMode(leftMotor2, OUTPUT);pinMode(rightMotorl, OUTPUT);pinMode(rightMotor2, OUTPUT);void loop() if(Serial.available()>0)char cmd=Serial.read();/i$取蓝牙模块发送到串I I的数据 Serial.pri nt(cmd);motorRun(cmd);void motorRun(int cmd)switch(c

11、md)case Forward:analogWrite(leftMotorl, 50);a na log Write (I eftMotor2, 0);analogWrite(rightMotorl, 50);a na log Write (r ightM otor2, 0);break;case Backward:analogWrite(leftMotorlz 0); analogWrite(leftMotor2/ 50); analogWrite(rightMotorl, 0); analogWrite(rightMotor2/ 50); break;case Turnleft: anal

12、ogWrite(leftMotorlz 0); analogWrite(leftMotor2,100); analogWrite(rightMotorl,100); analogWrite(rightMotor2/ 0); break;case Turnright: analogWrite(leftMotorlz 100); analogWrite(leftMotor2/ 0); analogWrite(rightMotorl, 0); analogWrite(rightMotor2/ 100); break;case Stop:analogWrite(leftMotorlz 0); anal

13、ogWrite(leftMotor2/ 0); analogWrite(rightMotorl, 0); analogWrite(rightMotor2/ 0); break;蓝牙模块连接方法TX：接开发板“RX”引脚RX：接开发吧“TX”引脚GND：接开发板“GND”引脚VCC：接开发板“5V”弓|脚循迹#define STOP0#define FORWARD 1#define BACKWARD 2#define TURNLEFT 3#define TURNRIGHT 4int leftMotorl = 4;int leftMotor2 = 5;int rightMotorl =6;int

14、rightMotor2 = 7;寻迹模块引脚初始化int tracl = 10;int trac2 = 11;void setup()pinModefleftMotorl, OUTPUT); pinMode(leftMotor2, OUTPUT); pinMode(rightMotorl, OUTPUT); pinMode(rightMotor2, OUTPUT);pinMode(tracl, INPUT); pinMode(trac2, INPUT);void loop() tracing();void motorRun(int cmd)switch(cmd)case FORWARD: an

15、alogWrite(leftMotorl, 50); analogWrite(leftMotor2, 0); analogWrite(rightMotorl, 50); analogWrite(rightMotor2, 0); break;case TURNLEFT: analogWrite(leftMotorl, 0); analogWrite(leftMotor2,150); analogWrite(rightMotorl, 150);analogWrite(rightMotor2/ 0);break;case TURNRIGHT:analogWrite(leftMotorlz 150);analogWrite(leftMotor2z 0);analogWrite(rightMotorl,0);analogWrite(rightMotor2,150);break;default:analogWrite(leftMotorlz 0);analogWrite(leftMotor2z 0);analogWrite(rightMotorl,0);analogWrite(rightMotor2/ 0);void tracing()int data2;dataO = digitalRead(lO);datal = di