“Arduino小车”的版本间的差异
来自Labplus盛思维基百科
Tangliufeng(讨论 | 贡献) |
Tangliufeng(讨论 | 贡献) |
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第87行: | 第87行: | ||
Copyright:wiki.labplus.cn | Copyright:wiki.labplus.cn | ||
Author:tangliufeng | Author:tangliufeng | ||
− | Date: | + | Date:10/8/2018 |
Description:由arduino电机驱动板加UNO+循迹模块+红外模块拼装的小车 | Description:由arduino电机驱动板加UNO+循迹模块+红外模块拼装的小车 | ||
1.循迹功能:按键“*”,进入循迹模式 | 1.循迹功能:按键“*”,进入循迹模式 | ||
2.红外遥控:按键“#”,进入遥控模式,使用方向键控制小车行走 | 2.红外遥控:按键“#”,进入遥控模式,使用方向键控制小车行走 | ||
+ | 2.避障:按键“0”,进入避障模式 | ||
**************************************************/ | **************************************************/ | ||
+ | #include <Wire.h> | ||
#include <SoftwareSerial.h> | #include <SoftwareSerial.h> | ||
#include <arduino.h> | #include <arduino.h> | ||
第100行: | 第102行: | ||
uint8_t buf; | uint8_t buf; | ||
− | #define LEFT_SPEED | + | #define LEFT_SPEED 90 |
− | #define RIGHT_SPEED | + | #define RIGHT_SPEED 100 |
第127行: | 第129行: | ||
void setup() | void setup() | ||
{ | { | ||
+ | Wire.begin(); | ||
Serial.begin(115200); | Serial.begin(115200); | ||
irSerial.begin(115200); | irSerial.begin(115200); | ||
第136行: | 第139行: | ||
pinMode(A1, INPUT); | pinMode(A1, INPUT); | ||
pinMode(A2, INPUT); | pinMode(A2, INPUT); | ||
− | forward(RIGHT_SPEED | + | forward(LEFT_SPEED, RIGHT_SPEED); |
} | } | ||
第145行: | 第148行: | ||
buf = irSerial.read(); | buf = irSerial.read(); | ||
− | Serial.println(buf, HEX); | + | //Serial.println(buf, HEX); |
switch (buf) | switch (buf) | ||
第157行: | 第160行: | ||
Car_Mode = 1; | Car_Mode = 1; | ||
Serial.println("control mode"); | Serial.println("control mode"); | ||
+ | break; | ||
+ | case IR_0: | ||
+ | Car_Mode = 2; | ||
+ | Serial.println("elude mode"); | ||
break; | break; | ||
case IR_UP: | case IR_UP: | ||
第189行: | 第196行: | ||
break; | break; | ||
case 1: | case 1: | ||
− | forward(LEFT_SPEED,RIGHT_SPEED); | + | forward(LEFT_SPEED, RIGHT_SPEED); |
break; | break; | ||
case 2: | case 2: | ||
第205行: | 第212行: | ||
} | } | ||
− | else | + | if (Car_Mode == 2) |
+ | { | ||
+ | //Serial.println(Distance()); | ||
+ | if (Distance() < 12) | ||
+ | { | ||
+ | stop(); | ||
+ | back(LEFT_SPEED, RIGHT_SPEED); | ||
+ | delay(500); | ||
+ | analogWrite(5, RIGHT_SPEED); | ||
+ | analogWrite(6, 0); | ||
+ | analogWrite(9, LEFT_SPEED); | ||
+ | analogWrite(10, 0); | ||
+ | delay(200); | ||
+ | |||
+ | } | ||
+ | else | ||
+ | { | ||
+ | forward(LEFT_SPEED, RIGHT_SPEED); | ||
+ | } | ||
+ | delay(10); | ||
+ | |||
+ | } | ||
+ | if (Car_Mode == 0) | ||
{ | { | ||
tracking(); | tracking(); | ||
} | } | ||
− | |||
− | |||
} | } | ||
第235行: | 第262行: | ||
} | } | ||
− | void forward(uint8_t left_speed,uint8_t right_speed ) | + | void forward(uint8_t left_speed, uint8_t right_speed) |
{ | { | ||
analogWrite(5, right_speed); | analogWrite(5, right_speed); | ||
第247行: | 第274行: | ||
{ | { | ||
analogWrite(5, 0); | analogWrite(5, 0); | ||
− | analogWrite(6, | + | analogWrite(6, right_speed); |
− | analogWrite(9, | + | analogWrite(9, left_speed); |
analogWrite(10, 0); | analogWrite(10, 0); | ||
第278行: | 第305行: | ||
analogWrite(9, 0); | analogWrite(9, 0); | ||
analogWrite(10, speed); | analogWrite(10, speed); | ||
− | + | } | |
− | + | uint8_t Distance() | |
+ | { | ||
+ | int i = 0; | ||
+ | uint8_t cm; | ||
+ | uint8_t temp[2]; | ||
+ | Wire.beginTransmission(0x0b); //传输给从机设备0x0B | ||
+ | Wire.write(1); //发送1指令 | ||
+ | Wire.endTransmission(); //结束传输 | ||
+ | Wire.requestFrom(0x0b, 2); //接收从机设备0x0B,长度2字节 | ||
+ | while (Wire.available()) { | ||
+ | temp[i] = Wire.read(); | ||
+ | i++; | ||
+ | } | ||
+ | return cm = (temp[0] + temp[1] * 256) / 10; | ||
} | } | ||
</pre> | </pre> |
2018年8月10日 (五) 11:08的版本
概述
由UNO和UNO拓展板、blue:bit模块搭建的简易arduino小车。可实现循迹和红外控制、避障功能。
使用教程
- 本例程含循迹和红外遥控两个功能,可通过遥控切换两种模式。当按下“*”键,进入循迹模式,当按下“#”,进入红外遥控模式。
在红外遥控模式下,按键↑↓←→可操控小车,ok键为停止。当按下“0”,进入避障模式
组装说明
电子模块清单
模块名称 | 数量 |
---|---|
UNO主控板 | x1 |
UNO拓展板 | x1 |
TT马达+轮子 | x2 |
blue:bit循迹模块 | x1 |
blue:bit红外接收 | x1 |
电子模块连接说明
模块 | 引脚 | 说明 |
---|---|---|
UNO主控板 | UNO拓展板 | |
TT马达(小车左) | MB | |
TT马达(小车右) | MA | |
循迹模块 | VCC ->V D2 ->A2 D1 ->A1 GND ->G |
连接到UNO拓展板 |
红外接收模块 | VCC ->V RXI ->3 TXD ->2 GND ->G |
连接到UNO拓展板 |
电池盒 | UNO拓展板的DC电源座 |
Arduino程序
File:AruinoCar.ino |
/************************************************* Copyright:wiki.labplus.cn Author:tangliufeng Date:10/8/2018 Description:由arduino电机驱动板加UNO+循迹模块+红外模块拼装的小车 1.循迹功能:按键“*”,进入循迹模式 2.红外遥控:按键“#”,进入遥控模式,使用方向键控制小车行走 2.避障:按键“0”,进入避障模式 **************************************************/ #include <Wire.h> #include <SoftwareSerial.h> #include <arduino.h> char info[50]; uint8_t Car_Mode = 0; uint8_t Move = 0; uint8_t buf; #define LEFT_SPEED 90 #define RIGHT_SPEED 100 //IR Button Value #define IR_1 0x00 #define IR_2 0x80 #define IR_3 0x40 #define IR_4 0x20 #define IR_5 0xA0 #define IR_6 0x60 #define IR_7 0x10 #define IR_8 0x90 #define IR_9 0x50 #define IR_0 0xB0 #define IR_star 0x30 #define IR_well 0x70 #define IR_UP 0x88 #define IR_DWN 0x98 #define IR_L 0x28 #define IR_R 0x68 #define IR_OK 0xA8 SoftwareSerial irSerial(2, 3); //rx P2,tx P3 connection IR Receive moudle void setup() { Wire.begin(); Serial.begin(115200); irSerial.begin(115200); pinMode(5, OUTPUT); pinMode(6, OUTPUT); pinMode(9, OUTPUT); pinMode(10, OUTPUT); pinMode(A1, INPUT); pinMode(A2, INPUT); forward(LEFT_SPEED, RIGHT_SPEED); } void loop() { if (irSerial.available() > 0) { buf = irSerial.read(); //Serial.println(buf, HEX); switch (buf) { case IR_star: Car_Mode = 0; Serial.println("tracking mode"); break; case IR_well: Car_Mode = 1; Serial.println("control mode"); break; case IR_0: Car_Mode = 2; Serial.println("elude mode"); break; case IR_UP: Move = 1; break; case IR_DWN: Move = 2; break; case IR_L: Move = 3; break; case IR_R: Move = 4; break; case IR_OK: Move = 0; break; default: break; } buf = 0; } if (Car_Mode == 1) { switch (Move) { case 0: stop(); break; case 1: forward(LEFT_SPEED, RIGHT_SPEED); break; case 2: back(LEFT_SPEED, RIGHT_SPEED); break; case 3: turnLeft(RIGHT_SPEED); break; case 4: turnRight(LEFT_SPEED); break; default: break; } } if (Car_Mode == 2) { //Serial.println(Distance()); if (Distance() < 12) { stop(); back(LEFT_SPEED, RIGHT_SPEED); delay(500); analogWrite(5, RIGHT_SPEED); analogWrite(6, 0); analogWrite(9, LEFT_SPEED); analogWrite(10, 0); delay(200); } else { forward(LEFT_SPEED, RIGHT_SPEED); } delay(10); } if (Car_Mode == 0) { tracking(); } } void tracking() { //sprintf(info, "D1:%d D2:%d\r\n", digitalRead(A1), digitalRead(A2)); //Serial.print(info); if (digitalRead(A1) == 0 && digitalRead(A2) == 1) { turnLeft(RIGHT_SPEED); Serial.println("Left"); } else if (digitalRead(A1) == 1 && digitalRead(A2) == 0) { turnRight(LEFT_SPEED); Serial.println("Right"); } else { forward(LEFT_SPEED, RIGHT_SPEED); } } void forward(uint8_t left_speed, uint8_t right_speed) { analogWrite(5, right_speed); analogWrite(6, 0); analogWrite(9, 0); analogWrite(10, left_speed); } void back(uint8_t left_speed, uint8_t right_speed) { analogWrite(5, 0); analogWrite(6, right_speed); analogWrite(9, left_speed); analogWrite(10, 0); } void stop() { analogWrite(5, 0); analogWrite(6, 0); analogWrite(9, 0); analogWrite(10, 0); } void turnLeft(uint8_t speed) { analogWrite(5, speed); analogWrite(6, 0); analogWrite(9, 0); analogWrite(10, 0); } void turnRight(uint8_t speed) { analogWrite(5, 0); analogWrite(6, 0); analogWrite(9, 0); analogWrite(10, speed); } uint8_t Distance() { int i = 0; uint8_t cm; uint8_t temp[2]; Wire.beginTransmission(0x0b); //传输给从机设备0x0B Wire.write(1); //发送1指令 Wire.endTransmission(); //结束传输 Wire.requestFrom(0x0b, 2); //接收从机设备0x0B,长度2字节 while (Wire.available()) { temp[i] = Wire.read(); i++; } return cm = (temp[0] + temp[1] * 256) / 10; }
Mixly图形化程序
该程序使用mixly编写,请用mixly软件打开!
文件:ArduinoCar.rar |
版本历史记录
Version | Date | 新增/删除/修复 |
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