超声波原理,百度上可以查到,该案例暂时只是测量出距离,将运用到机器人绕过障碍物算法中。
程序:
/**
* author wjf
* date 2017/12/30 14:23
* 电机驱动
* 红外接收
* 舵机(辉盛MG 946R)
* LCD
*
*/
////引入头文件//
//通用字符串库
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
//LCD库
#include <LiquidCrystal_I2C.h> //LCD
#include <Wire.h>
#include <LCD.h>
//红外库
#include <IRremote.h>
//舵机库
#include <Servo.h>
//定义变量////
/**
* 定义LCD对象,
* 第一个参数0x20需要先扫描I2C地址扫描代码地址:
*
* 后面的暂时不知道什么意思,可以这么直接用
*/
LiquidCrystal_I2C lcd(0x20, 2, 1, 0, 4, 5, 6, 7);
///定义电机驱动变量/////
//电机针脚PIN
const int IN1 = 5;
const int IN2 = 4;
const int ENA = 6;
const int IN3 = 8;
const int IN4 = 7;
const int ENB = 9;
//电机速度
int speed = 100;
//定义红外接收变量//
int RECV_PIN = 3;//红外使用针脚
IRrecv irrecv(RECV_PIN);//定义接收对象
decode_results results;//暂存结果的变量
long control[7][3] = {//遥控器矫正数字
{16580863, 16613503, 16597183},
{16589023, 16621663, 16605343},
{16584943, 16617583, 16601263},
{16593103, 16625743, 16609423},
{16582903, 16615543, 16599223},
{16591063, 16623703, 16607383},
{16586983, 16619623, 16603303}
};
///定义电机方法////
void initMotor() {
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(ENB, OUTPUT);
}
//定义红外接收方法/
void initIR() {
irrecv.enableIRIn();
}
//定义LCD方法/
void initLCD() {
lcd.begin (16, 2); // for 16 x 2 LCD module
lcd.setBacklightPin(3, POSITIVE);
lcd.setBacklight(HIGH);
}
void setLCD(char *str) { //设置LCD显示的字符串
lcd.home (); // set cursor to 0,0
lcd.print(str);
lcd.setCursor (0, 1); // go to start of 2nd line
//lcd.print(millis());
//delay(1000);
lcd.setBacklight(LOW); // Backlight off delay(250);
lcd.setBacklight(HIGH); // Backlight on delay(1000);
}
///定义舵机
Servo myservo;//定义舵机对象
const int steeringPin = 12;//定义舵机针脚
int steeringAngle = 90;//舵机的初始角度
//定义居中
void steeringCenter() {
if (steeringAngle == 90) {
for (steeringAngle = 90; steeringAngle > 30; steeringAngle -= 1)
{
myservo.write(steeringAngle);
delay(15);
}
}else if(steeringAngle == -30){
for (steeringAngle = -30; steeringAngle < 30; steeringAngle += 1)
{
myservo.write(steeringAngle);
delay(15);
}
}
}
//右转
void steeringRight() {
for (steeringAngle = 30; steeringAngle > -30; steeringAngle -= 1)
{
myservo.write(steeringAngle);
delay(15);
}
}
//左转
void steeringLeft() {
for (steeringAngle = 30; steeringAngle < 90; steeringAngle += 1)
{
myservo.write(steeringAngle);
delay(15);
}
}
//初始化舵机
void initSteeringDirection() {
myservo.attach(steeringPin);//初始化针脚
//myservo.write(90);//初始化舵机方位
myservo.writeMicroseconds(1500);
}
////定义超声波//
const int trigPin = 11;//触发针脚
const int echoPin = 10;//回声针脚
float distance;//存放距离
//初始化超声波针脚
void initUltrasonic(){
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
}
//获取距离
void getDistance(){
// 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");
}
/////初始化入口///
void setup() {
//初始化串口监视器
Serial.begin(9600);
//初始电机
initMotor();
//初始化红外接收
initIR();
//初始化LCD
initLCD();
setLCD("Hello world");
//初始化舵机
//initSteeringDirection();
}
void loop() {
if (irrecv.decode(&results)) //如果接收到有红外发射器发送过来的数据
{
Serial.println(results.value, HEX);//以16进制换行输出接收代码
if (results.value == 4294967295) {//红外长按得时候获取固定值
} else {
if (results.value == control[0][0]) {
Motor1_Brake();//停止电机1
Motor2_Brake();//停止电机2
Motor1_Backward(speed);//电机反转,PWM调速
} else if (results.value == control[0][1]) {//上
Motor1_Backward(speed);//电机反转,PWM调速
Motor2_Backward(speed);//电机反转,PWM调速
} else if (results.value == control[0][2]) {
Motor1_Brake();//停止电机1
Motor2_Brake();//停止电机2
Motor2_Backward(speed);//电机反转,PWM调速
} else if (results.value == control[1][0]) {//左
steeringLeft();//舵机左转
} else if (results.value == control[1][1]) {//中
Motor1_Brake();//停止电机1
Motor2_Brake();//停止电机2
} else if (results.value == control[1][2]) {//右
steeringRight();
} else if (results.value == control[2][0]) {
Motor1_Brake();//停止电机1
Motor2_Brake();//停止电机2
Motor1_Forward(speed);//电机正转,PWM调速
} else if (results.value == control[2][1]) {//下
Motor1_Forward(speed);//电机正转,PWM调速
Motor2_Forward(speed);//电机正转,PWM调速
} else if (results.value == control[2][2]) {
Motor1_Brake();//停止电机1
Motor2_Brake();//停止电机2
Motor2_Forward(speed);//电机正转,PWM调速
} else if (results.value == control[3][0]) {//0
getDistance();//获取超声波测得的距离
} else if (results.value == control[3][1]) {
} else if (results.value == control[3][2]) {//st
} else if (results.value == control[4][0]) {//1
} else if (results.value == control[4][1]) {//2
} else if (results.value == control[4][2]) {//3
} else if (results.value == control[5][0]) {//4
} else if (results.value == control[5][1]) {//5
} else if (results.value == control[5][2]) {//6
} else if (results.value == control[6][0]) {//7
} else if (results.value == control[6][1]) {//8
} else if (results.value == control[6][2]) {//9
}
}
irrecv.resume(); // 接收下一个值
}
delay(100);
}
void Motor1_Forward(int Speed) //电机1正转,Speed值越大,电机转动越快
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
analogWrite(ENA, Speed);
}
void Motor1_Backward(int Speed) //电机1反转,Speed值越大,电机转动越快
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
analogWrite(ENA, Speed);
}
void Motor1_Brake() //电机1刹车
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
}
void Motor2_Forward(int Speed) //电机2正转,Speed值越大,电机转动越快
{
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
analogWrite(ENB, Speed);
}
void Motor2_Backward(int Speed) //电机2反转,Speed值越大,电机转动越快
{
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
analogWrite(ENB, Speed);
}
void Motor2_Brake()
{
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}