基于Arduino的超声波壁障小车源程序

1、精选优质文档-倾情为你奉上 基于Arduino的超声波壁障小车源程序 河南大学 王艺/ L = 左/ R = 右/ F = 前/ B = 後#include <Servo.h> int pinLF=14; / 定义6脚位 左后int pinLB=15; / 定义9脚位 左前int pinRF=16; / 定义10脚位 右前int pinRB=17; / 定义11脚位 右后int inputPin = 9; / 定义超音波接受脚位int outputPin =8; / 定义超音波发送脚位int Fspeedd = 0; / 前速int Rspeedd = 0; / 右速int Lsp

2、eedd = 0; / 左速int directionn = 0; Servo myservo; /myservoint delay_time = 250; / 舵机的稳定时间int Fgo = 8; / 前进int Rgo = 6; / 右转int Lgo = 4; / 左转int Bgo = 2; / 倒车void setup() Serial.begin(9600); pinMode(pinLB,OUTPUT); pinMode(pinLF,OUTPUT); pinMode(pinRB,OUTPUT); pinMode(pinRF,OUTPUT); pinMode(inputPin, I

3、NPUT); pinMode(outputPin, OUTPUT); myservo.attach(10); / 定义舵机第5脚位(PWM) void advance(int a) / 前进 digitalWrite(pinRF,HIGH); digitalWrite(pinRB,LOW); /analogWrite(pinRF,100); /analogWrite(pinRB, 0); digitalWrite(pinLF,HIGH); digitalWrite(pinLB,LOW); /analogWrite(pinLF,100); /analogWrite(pinLB,0); delay

4、(a * 100); void right(int b) digitalWrite(pinRF,LOW); digitalWrite(pinRB,LOW); /analogWrite(pinRF,0); / analogWrite(pinRB, 0); digitalWrite(pinLF,HIGH); digitalWrite(pinLB,LOW); /analogWrite(pinLF,100); / analogWrite(pinLB,0); delay(b * 100); void left(int c) digitalWrite(pinRF,HIGH); digitalWrite(p

5、inRB,LOW); /analogWrite(pinRF,100); /analogWrite(pinRB, 0); digitalWrite(pinLF,LOW); digitalWrite(pinLB,LOW); /analogWrite(pinLF,0); /analogWrite(pinLB,0); delay(c * 100); void turnR(int d) digitalWrite(pinRF,LOW); digitalWrite(pinRB,HIGH); analogWrite(pinRF,0); analogWrite(pinRB, 100); digitalWrite

6、(pinLF,HIGH); digitalWrite(pinLB,LOW); analogWrite(pinLF,100); analogWrite(pinLB,0); delay(d * 100); void turnL(int e) digitalWrite(pinRF,HIGH); digitalWrite(pinRB,LOW); analogWrite(pinRF,100); analogWrite(pinRB, 0); digitalWrite(pinLF,LOW); digitalWrite(pinLB,HIGH); analogWrite(pinLF,0); analogWrit

7、e(pinLB,100); delay(e * 100); void stopp(int f) /停止 digitalWrite(pinRB,LOW); digitalWrite(pinRF,LOW); digitalWrite(pinLB,LOW); digitalWrite(pinLF,LOW); delay(f * 100); void back(int g) digitalWrite(pinRF,LOW); digitalWrite(pinRB,HIGH); /analogWrite(pinRF,0); /analogWrite(pinRB, 150); digitalWrite(pi

8、nLF,LOW); digitalWrite(pinLB,HIGH); /analogWrite(pinLF,0); /analogWrite(pinLB,150); delay(g * 100); void detection() /测量三个角度(0.90.179) int delay_time = 250; / 舵机稳定时间 ask_pin_F(); if(Fspeedd < 10) stopp(1); back(2); if(Fspeedd < 25) stopp(1); ask_pin_L(); delay(delay_time); ask_pin_R(); delay(d

9、elay_time); if(Lspeedd > Rspeedd) directionn = Rgo; /向右走 if(Lspeedd <= Rspeedd) directionn = Lgo; /向左走 if (Lspeedd < 10 && Rspeedd < 10) directionn = Bgo; else directionn = Fgo; /向前走 void ask_pin_F() / 量出前方距离 myservo.write(90); digitalWrite(outputPin, LOW); delayMicroseconds(2);

10、digitalWrite(outputPin, HIGH); delayMicroseconds(10); digitalWrite(outputPin, LOW); float Fdistance = pulseIn(inputPin, HIGH); Fdistance= Fdistance/5.8/10; Serial.print("F distance:"); /输出距离 单位公分 Serial.println(Fdistance); Fspeedd = Fdistance; void ask_pin_L() /测出左边距离 myservo.write(5); del

11、ay(delay_time); digitalWrite(outputPin, LOW); delayMicroseconds(2); digitalWrite(outputPin, HIGH); delayMicroseconds(10); digitalWrite(outputPin, LOW); float Ldistance = pulseIn(inputPin, HIGH); Ldistance= Ldistance/5.8/10; / 将时间转化为距离 Serial.print("L distance:"); Serial.println(Ldistance);

12、 Lspeedd = Ldistance; void ask_pin_R() / 量出右边距离 myservo.write(177); delay(delay_time); digitalWrite(outputPin, LOW); delayMicroseconds(2); digitalWrite(outputPin, HIGH); delayMicroseconds(10); digitalWrite(outputPin, LOW); float Rdistance = pulseIn(inputPin, HIGH); Rdistance= Rdistance/5.8/10; Seria

13、l.print("R distance:"); Serial.println(Rdistance); Rspeedd = Rdistance; void loop() myservo.write(90); /舵机初次位置 detection(); /测量角度，判断往哪边转动 if(directionn = 2) /假如directionn(方向) = 2(倒车) back(8); / 倒退 turnL(2); / Serial.print(" Reverse "); if(directionn = 6) /假如directionn(方向) = 6(右) back(1); turnR(6); / 右 Serial.print(" Right "); if(directionn = 4) /假如direct