在下载到开发板之前要选择好板和端口，具体参见：
ZYAR20A 亚克力2驱 蓝牙 298寻迹避障机器人 —— Arduino相关设置
注意
红外遥控程序注意将IRremote 复制到ARDuino安装目录下面,否则编译会出现
链接：https://pan.baidu.com/s/1H7K2hdorQMiAOaZLz13qJw
提取码：ilmt
C:\Program Files (x86)\Arduino\libraries\RobotIRremote\src\IRremoteTools.cpp:5:16: error: ‘TKD2’ was not declared in this scope int RECV_PIN = TKD2; // the pin the IR receiver is connected to ^编译有误。
Arduino遥控器按键表
代码
// 智能小车黑线循、红外避障、遥控综合实验
//===============================================================
//#include <Servo.h>
//包含红外库 关键点
int RECV_PIN = A4;//端口声明
IRrecv irrecv(RECV_PIN);
decode_results results;//结构声明
int on = 0;//标志位
unsigned long last = millis();
long run_car = 0x00FF629D;//按键CH
long back_car = 0x00FFA857;//按键+
long left_car = 0x00FF22DD;//按键<<
long right_car = 0x00FFC23D;//按键>||
long stop_car = 0x00FF02FD;//按键>>|
long left_turn = 0x00ffE01F;//按键-
long right_turn = 0x00FF906F;//按键EQ
int Left_motor_go=8; //左电机前进(IN1)
int Left_motor_back=9; //左电机后退(IN2)
int Right_motor_go=10; // 右电机前进(IN3)
int Right_motor_back=11; // 右电机后退(IN4)
//定义按键 数字A2 接口
//定义LED 数字7 接口
//定义LED2 数字12 接口
int beep=A3;//定义蜂鸣器 数字A3 接口
// 定义按键模式1
// 定义按键模式2
// 定义按键模式3
uint8_t keyMode; //指无符号8bit整型数
const int SensorRight = 3; //右循迹红外传感器(P3.2 OUT1)
const int SensorLeft = 4; //左循迹红外传感器(P3.3 OUT2)
const int SensorRight_2 = 5; //左边红外避障传感器()
const int SensorLeft_2 = 6; //右边红外避障传感器()
int SR_2; //右边红外避障传感器状态
int SL_2; //左边红外避障传感器状态
int SL; //左循迹红外传感器状态
int SR; //右循迹红外传感器状态
void setup()
{
//初始化电机驱动IO为输出方式
pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM)
pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)
pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM)
pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM)
pinMode(beep,OUTPUT);
pinMode(SensorRight, INPUT); //定义右循迹红外传感器为输入
pinMode(SensorLeft, INPUT); //定义左循迹红外传感器为输入
pinMode(SensorRight_2, INPUT); //定义右红外传感器为输入
pinMode(SensorLeft_2, INPUT); //定义右红外传感器为输入
pinMode(13, OUTPUT);端口模式，输出
Serial.begin(9600); //波特率9600
irrecv.enableIRIn(); // Start the receiver 这个函数对寻迹 壁障的PWM控制有影响 右转函数
KeyScanInit();
LEDInit();
}
//=======================智能小车的基本动作 遥控控制单独用电机驱动函数=========================
// 遥控实验不可调节电机速度，调节pwm值会影响红外的信号接收
void run2() // 前进
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW); // 左电机前进
digitalWrite(Left_motor_back,HIGH);
}
void brake2() //刹车，停车
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
}
void left2() //左转(左轮不动，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,LOW);
}
void spin_left2() //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
}
void right2() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
}
void spin_right2() //右转(右轮后退，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
}
void back2() //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
}
//=======================智能小车的基本动作=========================
//void run(int time) // 前进
void run()
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,150);//PWM比例0~255调速，左右轮差异略增减
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // 左电机前进
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减
analogWrite(Left_motor_back,150);
//delay(time * 100); //执行时间，可以调整
}
//void brake(int time) //刹车，停车
void brake()
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
//delay(time * 100);//执行时间，可以调整
}
//void left(int time) //左转(左轮不动，右轮前进)
void left()
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,150);
analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_left() //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,150);
analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,70);
analogWrite(Left_motor_back,0);//PWM比例0~255调速
// delay(time * 100); //执行时间，可以调整
}
//void right(int time) //右转(右轮不动，左轮前进)
void right()//
//irrecv.enableIRIn(); // Start the receiver 这个函数对寻迹 壁障的PWM控制有影响 右转函数
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,150);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_right() //右转(右轮后退，左轮前进)
irrecv.enableIRIn(); // Start the receiver 这个函数对寻迹 壁障的PWM控制有影响 右转函数
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,150);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,150);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
//void back(int time) //后退
void back()
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
//analogWrite(Right_motor_go,0);
// analogWrite(Right_motor_back,200);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,200);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
//==========================================================
void dump(decode_results *results)
{
int count = results->rawlen;
if (results->decode_type == UNKNOWN)
{
//Serial.println("Could not decode message");
brake();
}
}
void IR_IN() //机器人遥控子程序
{
if (irrecv.decode(&results)) //调用库函数：解码
{
if (millis() - last > 250) //确定接收到信号
{
on = !on;//标志位置反
digitalWrite(13, on ? HIGH : LOW);//板子上接收到信号闪烁一下led
dump(&results);//解码红外信号
}
if (results.value == run_car )//按键CH
run2();//前进
if (results.value == back_car )//按键+
back2();//后退
if (results.value == left_car )//按键<<
left2();//左转
if (results.value == right_car )//按键>||
right2();//右转
if (results.value == stop_car )//按键>>|
brake2();//停车
if (results.value == left_turn )//按键-
spin_left2();//左旋转
if (results.value == right_turn )//按键EQ
spin_right2();//右旋转
last = millis();
irrecv.resume(); // Receive the next value
}
}
void Robot_Avoidance() //机器人避障子程序
{
//有信号为LOW 没有信号为HIGH
SR_2 = digitalRead(SensorRight_2);
SL_2 = digitalRead(SensorLeft_2);
if (SL_2 == HIGH&&SR_2==HIGH)
{
run(); //调用前进函数
digitalWrite(beep,LOW);
}
else if (SL_2 == HIGH & SR_2 == LOW)// 右边探测到有障碍物，有信号返回，向左转
spin_left();
else if (SR_2 == HIGH & SL_2 == LOW) //左边探测到有障碍物，有信号返回，向右转
spin_right();
else // 都是有障碍物, 后退
{
digitalWrite(beep,HIGH); //蜂鸣器响
//digitalWrite(LED,HIGH); //LED亮
brake();//停止200MS
delay(300);
back();//后退500MS
delay(400);
left();//调用左转函数 延时500ms
delay(500);
}
}
void Robot_Traction() //机器人循迹子程序
{
//有信号为LOW 没有信号为HIGH
SR = digitalRead(SensorRight);//有信号表明在白色区域，车子底板上L1亮；没信号表明压在黑线上，车子底板上L1灭
SL = digitalRead(SensorLeft);//有信号表明在白色区域，车子底板上L2亮；没信号表明压在黑线上，车子底板上L2灭
if (SL == LOW&&SR==LOW)
run(); //调用前进函数
else if (SL == HIGH & SR == LOW)// 左循迹红外传感器,检测到信号，车子向右偏离轨道，向左转
spin_left();
else if (SR == HIGH & SL == LOW) // 右循迹红外传感器,检测到信号，车子向左偏离轨道，向右转
spin_right();
else // 都是白色, 停止
brake();
}
// 按键处理初始化
void KeyScanInit(void)
{
pinMode(PORT_KEY,INPUT_PULLUP); //输入模式，内部上拉。
keyMode = KEYMODE_1;
}
// 任务：按键处理
void KeyScanTask(void)//
{
static uint8_t keypre = 0; //按键被按下时置1.
if( (keypre == 0) && (digitalRead(PORT_KEY) == HIGH) ) //按键被按下
{
keypre = 1; //置1，避免持续按下按键时再次进入此函数体。
switch(keyMode)
{
case KEYMODE_1:
keyMode = KEYMODE_2; //关键点错位赋值
break;
case KEYMODE_2:
keyMode = KEYMODE_3;
break;
case KEYMODE_3:
keyMode = KEYMODE_1;
break;
default:
break;
}
}
if(digitalRead(PORT_KEY) == LOW) //按键被放开
{
keypre = 0; //置0，允许再次切换LED模式
}
}
// LED初始化
void LEDInit(void)
{
pinMode(PORT_LED1,OUTPUT);
pinMode(PORT_LED2,OUTPUT);
digitalWrite(PORT_LED1,LOW);
digitalWrite(PORT_LED2,LOW);
}
// 任务：循迹、避障、遥控模式处理
void LEDTask(void)
{
switch(keyMode)
{
case KEYMODE_1:
digitalWrite(PORT_LED1,HIGH);
digitalWrite(PORT_LED2,LOW);
Robot_Traction(); //调用循迹子程序
break;
case KEYMODE_2:
digitalWrite(PORT_LED1,LOW);
digitalWrite(PORT_LED2,HIGH);
Robot_Avoidance(); // 调用避障子程序
break;
case KEYMODE_3:
digitalWrite(PORT_LED1,HIGH);
digitalWrite(PORT_LED2,HIGH);
//irrecv.enableIRIn();
IR_IN(); //调用遥控子程序
break;
default:
break;
}
}
void loop()
{
while(1)
{
KeyScanTask();
LEDTask();
//Robot_Avoidance();
}
}
