Arduino智能小车--仅仅是随便一搞

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mb5ff2f21b6d2a1 2017-08-14 18:15:00

文章标签 git 运行时间红外初始化 3d 文章分类 代码人生

在某宝宝买的智能小车，挺精致的，开心的连接上打印机的线，结果port都没有反应，

查了一下发现是少了驱动，博主用的mac os10.12.3

CH34x_Install_V1.4.pkg

安装好之后我们再启动arduino 就能够看到新的port了，选择他，我们就能够进行上传代码了。

仅仅是对附赠源代码进行了一下整理。

。。

这个用到了红外遥控，须要一个IRremote库。打包资源在csdn下载里边自行下载，内附说明。感谢智宇科技--链接感谢智宇科技--链接感谢智宇科技--链接感谢智宇科技--链接

链接: https://pan.baidu.com/s/1dFwzx53 password: 2aju

#include <IRremote.h>//包括红外库  关键点
int RECV_PIN = A4;//port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
//避障开关
long avoidopen = 0x00FF42BD;//按键7
long trackingopen = 0x00FF52AD;//按键9
//==============================
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)

//避障
int key=A2;//定义按键 数字A2 接口
int beep=A3;//定义蜂鸣器 数字A3 接口
int LED=7;//定义LED 数字7 接口
const int SensorRight_2 = 5;     //中间红外避障传感器(P3.4 OUT3)
int SR_2;    //右红外传感器状态

//循迹
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)
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(13, OUTPUT);////port模式，输出
  Serial.begin(9600);	//波特率9600
  irrecv.enableIRIn(); // Start the receiver
  //避障
  pinMode(key,INPUT);//定义按键接口为输入接口
  pinMode(beep,OUTPUT);//定义蜂鸣器为输出接口
  pinMode(LED,OUTPUT);//定义LED为输出接口

  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
}
void run()     // 前进
{
   digitalWrite(Right_motor_go,HIGH);  // 右电机前进
   digitalWrite(Right_motor_back,LOW);     
  //analogWrite(Right_motor_go,200);//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,200);
  //delay(time * 100);   //运行时间，能够调整 
}
void brake(int time)  //刹车，停车
{
  digitalWrite(Right_motor_go,LOW);
  digitalWrite(Right_motor_back,LOW);
  digitalWrite(Left_motor_go,LOW);
  digitalWrite(Left_motor_back,LOW);
  delay(time * 100);//运行时间，能够调整  
}
void left(int time)         //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);
  analogWrite(Right_motor_go,200); 
  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);  //运行时间。能够调整  
}
void spin_left(int time)         //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,200); 
  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,200); 
  analogWrite(Left_motor_back,0);//PWM比例0~255调速
  delay(time * 100);  //运行时间，能够调整   
}
void spin_right(int time)        //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);
  analogWrite(Right_motor_go,0); 
  analogWrite(Right_motor_back,200);//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,200);//PWM比例0~255调速
  delay(time * 100);  //运行时间，能够调整    
}
void back(int time)          //后退
{
  digitalWrite(Right_motor_go,LOW);  //右轮后退
  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,HIGH);  //左轮后退
  digitalWrite(Left_motor_back,LOW);
  analogWrite(Left_motor_go,150);
  analogWrite(Left_motor_back,0);//PWM比例0~255调速
  delay(time * 100);     //运行时间，能够调整 
}
void brake()         //刹车，停车
{
  digitalWrite(Right_motor_go,LOW);
  digitalWrite(Right_motor_back,LOW);
  digitalWrite(Left_motor_go,LOW);
  digitalWrite(Left_motor_back,LOW);
  //delay(time * 100);//运行时间，能够调整  
}

void left()         //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);
  //analogWrite(Right_motor_go,200); 
  //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);	//运行时间，能够调整 
}

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,200); 
  //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,200); 
  //analogWrite(Left_motor_back,0);//PWM比例0~255调速
  //delay(time * 100);	//运行时间，能够调整 
}

void right()        //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);
  //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,200);//PWM比例0~255调速
 // delay(time * 100);	//运行时间，能够调整 
}

void spin_right()        //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);
  //analogWrite(Right_motor_go,0); 
  //analogWrite(Right_motor_back,200);//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,200);//PWM比例0~255调速
  //delay(time * 100);	//运行时间，能够调整
}

void back()          //后退
{
  digitalWrite(Right_motor_go,LOW);  //右轮后退
  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,HIGH);  //左轮后退
  digitalWrite(Left_motor_back,LOW);
  //analogWrite(Left_motor_go,150);
  //analogWrite(Left_motor_back,0);//PWM比例0~255调速
  //delay(time * 100);     //运行时间。能够调整    
}

void dump(decode_results *results)
{
  int count = results->rawlen;
  if (results->decode_type == UNKNOWN) 
  {
    //Serial.println("Could not decode message");
    brake();
  } 
//串口打印，调试时能够打开，实际运行中会影响反应速度，建议屏蔽
/*
  else 
  {

    if (results->decode_type == NEC) 
    {
      Serial.print("Decoded NEC: ");
    } 
    else if (results->decode_type == SONY) 
    {
      Serial.print("Decoded SONY: ");
    } 
    else if (results->decode_type == RC5) 
    {
      Serial.print("Decoded RC5: ");
    } 
    else if (results->decode_type == RC6) 
    {
      Serial.print("Decoded RC6: ");
    }
    Serial.print(results->value, HEX);
    Serial.print(" (");
    Serial.print(results->bits, DEC);
    Serial.println(" bits)");
    
  }
  Serial.print("Raw (");
  Serial.print(count, DEC);
  Serial.print("): ");

  for (int i = 0; i < count; i++) 
  {
    if ((i % 2) == 1) 
    {
      Serial.print(results->rawbuf[i]*USECPERTICK, DEC);
    } 
    else  
    {
      Serial.print(-(int)results->rawbuf[i]*USECPERTICK, DEC);
    }
    Serial.print(" ");
  }
  Serial.println("");
*/
}
//==========================================================
//避障改为遥控器，此处能够忽略掉
void keysacn()//按键扫描
{
  int val;
  val=digitalRead(key);//读取数字7 口电平值赋给val
  while(!digitalRead(key))//当按键没被按下时。一直循环
  {
    val=digitalRead(key);//此句可省略，可让循环跑空
  }
  while(digitalRead(key))//当按键被按下时
  {
    delay(10);  //延时10ms
    val=digitalRead(key);//读取数字7 口电平值赋给val
    if(val==HIGH)  //第二次推断按键是否被按下
    {
      digitalWrite(beep,HIGH);    //蜂鸣器响
      while(!digitalRead(key))  //推断按键是否被松开
        digitalWrite(beep,LOW);   //蜂鸣器停止
    }
    else
      digitalWrite(beep,LOW);//蜂鸣器停止
  }
}
//避障程序
void avoid()
{
  //改动为遥控器控制
  //keysacn();     //调用按键扫描函数
  while(1)
  {
    //有信号为LOW  没有信号为HIGH  有障碍物输出0  没有障碍物输出1
    SR_2 = digitalRead(SensorRight_2);
    if (SR_2==HIGH)//前面没有障碍物
    {
      run();   //调用前进函数
      digitalWrite(beep,LOW);   //蜂鸣器不响
      digitalWrite(LED,LOW);    //LED不亮
    } 
    else if ( SR_2 == LOW)// 前面探測到有障碍物，有信号返回 
       { 
         digitalWrite(beep,HIGH);   //蜂鸣器响
         digitalWrite(LED,HIGH);    //LED亮
         brake(3);//停止300MS
         back(4);//后退400MS
         left(5);//调用左转函数  延时500ms       
     }
     
  }

}
void tracking(){
  while(1)
  {
    //有信号为LOW  没有信号为HIGH   检測到黑线  输出高  检測到白色区域输出低
    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,检測到信号，车子向右偏离轨道，向左转 
      left();
    else if (SR == HIGH & SL == LOW) // 右循迹红外传感器,检測到信号。车子向左偏离轨道，向右转  
      right();
    else // 都是黑色, 停止
    brake();
    }
}
void loop()
{
  if (irrecv.decode(&results)) //调用库函数：解码
  {
    // If it's been at least 1/4 second since the last
    // IR received, toggle the relay
    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
      run();//前进
    if (results.value == back_car )//按键+
      back();//后退
    if (results.value == left_car )//按键<<
      left();//左转
    if (results.value == right_car )//按键>||
      right();//右转
    if (results.value == stop_car )//按键>>|
      brake();//停车
    if (results.value == left_turn )//按键-
      spin_left();//左旋转
    if (results.value == right_turn )//按键EQ
      spin_right();//右旋转
    if (results.value == avoidopen)//按键7
      avoid();// 开启智能避障 
    if (results.value == trackingopen)//按键9
      tracking();
      
    last = millis();      
    irrecv.resume(); // Receive the next value
  }
}

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