小白的arduino小车怎么办啊

Nass · 发表于 2015-8-10 12:55:36

现有arduino 2560 R3 板 5代路由板两个超声波三个lm298n 两个红外传感器两个云台舵机还有一个继电器模块不知道怎么配合上位机控制希望各位大侠们指导指导，目前能力只能连接超声波lm298n让小车自己壁障前进，能力有限希望大家指导指导

suyijiang · 发表于 2015-11-16 18:29:59

论坛里很多程序可以自己修改加以利用才能学到东西。

Nass · 发表于 2015-8-10 12:56:55

const int TrigPin = 36;
const int EchoPin = 37;
float distance;
int PWM1=2;  //连接电机1调速端口到数字接口2
int CW1=35; //连接电机1转向端口到数字接口35
int PWM2=3;  //连接电机2调速端口到数字接口3
int CW2=34; //连接电机2转向端口到数字接口34
int PWM3=4;  //连接电机1调速端口到数字接口4
int CW3=33; //连接电机1转向端口到数字接口33
int PWM4=5;  //连接电机2调速端口到数字接口5
int CW4=32; //连接电机2转向端口到数字接口32
int PWM5=6;  //连接电机1调速端口到数字接口6
int CW5=31; //连接电机1转向端口到数字接口31
int PWM6=7;  //连接电机2调速端口到数字接口7
int CW6=30; //连接电机2转向端口到数字接口30
void setup()
{
// 初始化串口通信及连接SR04的引脚
      Serial.begin(9600);
      pinMode(TrigPin, OUTPUT);
// 要检测引脚上输入的脉冲宽度，需要先设置为输入状态
      pinMode(EchoPin, INPUT);
Serial.println("Ultrasonic sensor:");
pinMode(PWM1, OUTPUT); //定义PWM输出
pinMode(CW1, OUTPUT);    //定义CW输出
pinMode(PWM2, OUTPUT); //定义PWM输出
pinMode(CW2, OUTPUT); //定义CW输出
pinMode(PWM3, OUTPUT); //定义PWM输出
pinMode(CW3, OUTPUT);    //定义CW输出
pinMode(PWM4, OUTPUT); //定义PWM输出
pinMode(CW4, OUTPUT); //定义CW输出
pinMode(PWM5, OUTPUT); //定义PWM输出
pinMode(CW5, OUTPUT);    //定义CW输出
pinMode(PWM6, OUTPUT); //定义PWM输出
pinMode(CW6, OUTPUT); //定义CW输出
}
void advance()//前进
{
  digitalWrite(PWM1,HIGH);
  digitalWrite(PWM2,HIGH);
  digitalWrite(CW1,LOW);
  digitalWrite(CW2,LOW);
  digitalWrite(PWM3,HIGH);
  digitalWrite(PWM4,HIGH);
  digitalWrite(CW3,LOW);
  digitalWrite(CW4,LOW);
  digitalWrite(PWM5,HIGH);
  digitalWrite(PWM6,HIGH);
  digitalWrite(CW5,LOW);
  digitalWrite(CW6,LOW);
}
void back()//后退
{
  digitalWrite(PWM1,HIGH);
  digitalWrite(PWM2,HIGH);
  digitalWrite(CW1,HIGH);
  digitalWrite(CW2,HIGH);
  digitalWrite(PWM3,HIGH);
  digitalWrite(PWM4,HIGH);
  digitalWrite(CW3,HIGH);
  digitalWrite(CW4,HIGH);
  digitalWrite(PWM5,HIGH);
  digitalWrite(PWM6,HIGH);
  digitalWrite(CW5,HIGH);
  digitalWrite(CW6,HIGH);
}
void zuozhuan()//左转
{
  digitalWrite(PWM1,HIGH);
  digitalWrite(PWM2,HIGH);
  digitalWrite(CW1,LOW);
  digitalWrite(CW2,HIGH);
  digitalWrite(PWM3,HIGH);
  digitalWrite(PWM4,HIGH);
  digitalWrite(CW3,LOW);
  digitalWrite(CW4,HIGH);
  digitalWrite(PWM5,HIGH);
  digitalWrite(PWM6,HIGH);
  digitalWrite(CW5,LOW);
  digitalWrite(CW6,HIGH);
}
void youzhuan()//右转
{
  digitalWrite(PWM1,HIGH);
  digitalWrite(PWM2,HIGH);
  digitalWrite(CW1,HIGH);
  digitalWrite(CW2,LOW);
  digitalWrite(PWM3,HIGH);
  digitalWrite(PWM4,HIGH);
  digitalWrite(CW3,HIGH);
  digitalWrite(CW4,LOW);
  digitalWrite(PWM5,HIGH);
  digitalWrite(PWM6,HIGH);
  digitalWrite(CW5,HIGH);
  digitalWrite(CW6,LOW);
}
void loop()
{
// 产生一个10us的高脉冲去触发TrigPin
      digitalWrite(TrigPin, LOW);
      delayMicroseconds(2);
      digitalWrite(TrigPin, HIGH);
      delayMicroseconds(10);
      digitalWrite(TrigPin, LOW);
// 检测脉冲宽度，并计算出距离
      distance = pulseIn(EchoPin, HIGH) / 58.00;
      Serial.print(distance);
      Serial.print("cm");
      Serial.println();
      delay(50);
  if (distance <  80) //等于50厘米就左转
  {
   zuozhuan();//小车左转
delay( 500);//延迟1秒
  }
  if (distance < 3400 ) //小于120厘米就前进
  {
advance();//小车前进
  }
  if (distance < 70 ) //小于120厘米就前进
  {
back();//小车前进
delay(100);//延迟1秒
  }

  }