arduino智能紅外避障小車原理圖與源碼

ID:309299 · 發(fā)表于 2018-4-16 15:46

單片機(jī)源程序如下:

//============================智宇科技===========================
// 智能小車紅外避障實(shí)驗(yàn)1（基礎(chǔ)避障）
//===============================================================
//#include <Servo.h>
int Left_motor_go=8; //左電機(jī)前進(jìn)(IN1)
int Left_motor_back=9; //左電機(jī)后退(IN2)
int Right_motor_go=10; // 右電機(jī)前進(jìn)(IN3)
int Right_motor_back=11; // 右電機(jī)后退(IN4)
int key=7;//定義按鍵數(shù)字7 接口
int beep=12;//定義蜂鳴器數(shù)字12 接口
const int SensorRight = 3; //右循跡紅外傳感器(P3.2 OUT1)
const int SensorLeft = 4; //左循跡紅外傳感器(P3.3 OUT2)
const int SensorRight_2 = 5; //右紅外傳感器(P3.4 OUT3)
const int SensorLeft_2 = 6; //左紅外傳感器(P3.5 OUT4)
int SL; //左循跡紅外傳感器狀態(tài)
int SR; //右循跡紅外傳感器狀態(tài)
int SL_2; //左紅外傳感器狀態(tài)
int SR_2; //右紅外傳感器狀態(tài)
void setup()
{
//初始化電機(jī)驅(qū)動(dòng)IO為輸出方式
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(key,INPUT);//定義按鍵接口為輸入接口
pinMode(beep,OUTPUT);
pinMode(SensorRight, INPUT); //定義右循跡紅外傳感器為輸入
pinMode(SensorLeft, INPUT); //定義左循跡紅外傳感器為輸入
pinMode(SensorRight_2, INPUT); //定義右紅外傳感器為輸入
pinMode(SensorLeft_2, INPUT); //定義左紅外傳感器為輸入
}
//=======================智能小車的基本動(dòng)作=========================
//void run(int time) // 前進(jìn)
void run() // 前進(jìn)
{
digitalWrite(Right_motor_go,HIGH); // 右電機(jī)前進(jìn)
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);//PWM比例0~255調(diào)速，左右輪差異略增減
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // 左電機(jī)前進(jìn)
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);//PWM比例0~255調(diào)速，左右輪差異略增減
analogWrite(Left_motor_back,200);
//delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
void brake(int time) //剎車，停車
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
delay(time * 100);//執(zhí)行時(shí)間，可以調(diào)整
}
//void left(int time) //左轉(zhuǎn)(左輪不動(dòng)，右輪前進(jìn))
void left() //左轉(zhuǎn)(左輪不動(dòng)，右輪前進(jìn))
{
digitalWrite(Right_motor_go,HIGH); // 右電機(jī)前進(jìn)
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);
analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,LOW); //左輪后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速
//delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
void spin_left(int time) //左轉(zhuǎn)(左輪后退，右輪前進(jìn))
{
digitalWrite(Right_motor_go,HIGH); // 右電機(jī)前進(jìn)
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);
analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,HIGH); //左輪后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,200);
analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速
delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
//void right(int time)
void right() //右轉(zhuǎn)(右輪不動(dòng)，左輪前進(jìn))
{
digitalWrite(Right_motor_go,LOW); //右電機(jī)后退
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,LOW);//左電機(jī)前進(jìn)
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,200);//PWM比例0~255調(diào)速
//delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
void spin_right(int time) //右轉(zhuǎn)(右輪后退，左輪前進(jìn))
{
digitalWrite(Right_motor_go,LOW); //右電機(jī)后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,200);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,LOW);//左電機(jī)前進(jìn)
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,200);//PWM比例0~255調(diào)速
delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
void back(int time) //后退
{
digitalWrite(Right_motor_go,LOW); //右輪后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,150);//PWM比例0~255調(diào)速
digitalWrite(Left_motor_go,HIGH); //左輪后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,150);
analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速
delay(time * 100); //執(zhí)行時(shí)間，可以調(diào)整
}
//==========================================================
void keysacn()//按鍵掃描
{
int val;
val=digitalRead(key);//讀取數(shù)字7 口電平值賦給val
while(!digitalRead(key))//當(dāng)按鍵沒(méi)被按下時(shí)，一直循環(huán)
{
val=digitalRead(key);//此句可省略，可讓循環(huán)跑空
}
while(digitalRead(key))//當(dāng)按鍵被按下時(shí)
{
delay(10); //延時(shí)10ms
val=digitalRead(key);//讀取數(shù)字7 口電平值賦給val
if(val==HIGH) //第二次判斷按鍵是否被按下
{
digitalWrite(beep,HIGH); //蜂鳴器響
while(!digitalRead(key)) //判斷按鍵是否被松開
digitalWrite(beep,LOW); //蜂鳴器停止
}
else
digitalWrite(beep,LOW);//蜂鳴器停止
}
}
void loop()
{
keysacn(); //調(diào)用按鍵掃描函數(shù)
while(1)
{
//有信號(hào)為L(zhǎng)OW 沒(méi)有信號(hào)為HIGH
SR_2 = digitalRead(SensorRight_2);
SL_2 = digitalRead(SensorLeft_2);
if (SL_2 == HIGH&&SR_2==HIGH)//前面沒(méi)有障礙物
run(); //調(diào)用前進(jìn)函數(shù)
else if (SL_2 == HIGH & SR_2 == LOW)// 右邊探測(cè)到有障礙物，有信號(hào)返回，向左轉(zhuǎn)
left();//調(diào)用左轉(zhuǎn)函數(shù)
else if (SR_2 == HIGH & SL_2 == LOW) //左邊探測(cè)到有障礙物，有信號(hào)返回，向右轉(zhuǎn)
right();//調(diào)用右轉(zhuǎn)函數(shù)
else // 都是有障礙物, 后退
{
back(3);//后退300MS
left();//調(diào)用左轉(zhuǎn)函數(shù)
delay(500); //延時(shí)500ms
}
}
}

復(fù)制代碼

ID:340398 · 發(fā)表于 2018-5-29 11:49

很好，學(xué)習(xí)了

ID:450629 · 發(fā)表于 2018-12-20 11:55

這個(gè)能用嗎

ID:450780 · 發(fā)表于 2018-12-20 15:33

學(xué)習(xí)了

ID:453488 · 發(fā)表于 2018-12-24 15:09

謝謝大佬分享！

ID:575167 · 發(fā)表于 2019-6-30 18:58

有電路圖嗎，大佬

ID:661976 · 發(fā)表于 2019-12-11 21:43

3路怎么設(shè)計(jì)？？？

ID:139783 · 發(fā)表于 2020-2-1 10:09

受教了，謝謝樓主

ID:269454 · 發(fā)表于 2020-3-4 09:25

畫上面那個(gè)圖的軟件是啥？

ID:735679 · 發(fā)表于 2020-4-22 22:47

LYZ321520 發(fā)表于 2020-3-4 09:25
畫上面那個(gè)圖的軟件是啥？

AD Altium Designer

ID:943916 · 發(fā)表于 2021-6-24 14:03

可不可以給下源文件啊，大佬

ID:844772 · 發(fā)表于 2021-6-24 20:24

ddold 發(fā)表于 2021-6-24 14:03
可不可以給下源文件啊，大佬

本來(lái)四個(gè)紅外，只用了兩個(gè)，程序也過(guò)于簡(jiǎn)單，所以車速不能快，也不適合走急彎。

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