企鹅队-技术报告

浙江大学“中控杯”浙江大学“中控杯”第十三届机器人竞左可姚金辰庞玉梅方案总 方案总 arduinomega2560机械结构设计机械结构设计arduinomega2560电路设计方开发板arduino简介：arduino电路设计方开发板arduino简介：arduinomegaatmega2560数字i/oinput/output端（其中1454，16ports，使用usb H上图为典型直流电机控制电路，电路得名于“H桥式驱动电路”是因为它的形状酷似字母H。H桥式驱动电路包括四个三极管和一个电机，要使电机运转，必须导通对角线上的在整个小车设计中用到了两个稳压模块：LM7805LM2596LM2596原理图：LM7805在整个小车设计中用到了两个稳压模块：LM7805LM2596LM2596原理图：LM780512V5V程序设计方Servomyservo;Servomyservo3;flag1=0;//flag1xiang=0;voidsetup()//端口设置程序设计方Servomyservo;Servomyservo3;flag1=0;//flag1xiang=0;voidsetup()//端口设置ppode(22,INPUT);}voidloop()//线路设置}}}}}}}}}}void case0:case1:case2:case3:}void case0:case1:case2:case3:}void -ogWriteogWriteogWriteogWrite(5,0);}ogWriteogWriteogWriteogWritecase3:}void -ogWriteogWriteogWriteogWrite(5,0);}ogWriteogWriteogWriteogWrite(5,0);ogWriteogWriteogWriteogWrite }voidogWriteogWriteogWriteogWrite(5,0);} >=--ogWriteogWriteogWriteogWrite(5,0);=- ogWriteogWriteogWriteogWriteogWrite(5,0);} >=--ogWriteogWriteogWriteogWrite(5,0);=- ogWriteogWriteogWriteogWrite}voidogWriteogWriteogWriteogWrite}elseogWriteogWriteogWriteogWriteelse}elseogWriteogWriteogWriteogWriteelseif(!led1&&led3){ogWrite(2,120);ogWriteogWriteogWrite}}void}}void}Servomyservo;Servomyservo3;flag1=0;//flag1xiang=0;voidsetup()//端口设置p}void}Servomyservo;Servomyservo3;flag1=0;//flag1xiang=0;voidsetup()//端口设置ppode(22,INPUT);}voidloop()}}}}void}}}}voidcasecasecase2:case3:}voidcasecasecase2:case3:}void>=--ogWriteogWriteogWriteogWrite(5,0);}=- ogWriteogWriteogWriteogWrite(5,0);ogWriteogWrite}void>=--ogWriteogWriteogWriteogWrite(5,0);}=- ogWriteogWriteogWriteogWrite(5,0);ogWriteogWriteogWriteogWrite(5,0);}voidogWriteogWriteogWriteogWrite} -ogWriteogWriteogWriteogWrite(5,0);ogWriteogWriteogWriteogWriteogWrite} -ogWriteogWriteogWriteogWrite(5,0);ogWriteogWriteogWriteogWrite}voidogWriteogWriteogWriteogWrite(5,0);}elseif(led1&&!led3){ogWrite(2,40);ogWriteogWriteogWriteelseif(!led1&&led3){ogWrite(2,140);ogWriteogWrite