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//============================智宇科技===========================
// 智能小車紅外避障實驗1（基礎(chǔ)避障）
//===============================================================
//#include <Servo.h>
int Left_motor_go=8; //左電機前進(IN1)
int Left_motor_back=9; //左電機后退(IN2)
int Right_motor_go=10; // 右電機前進(IN3)
int Right_motor_back=11; // 右電機后退(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()
{
//初始化電機驅(qū)動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
}
//=======================智能小車的基本動作=========================
//void run(int time) // 前進
void run() // 前進
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
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); // 左電機前進
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)行時間，可以調(diào)整
}
//void left(int time) //左轉(zhuǎn)(左輪不動，右輪前進)
void left() //左轉(zhuǎn)(左輪不動，右輪前進)
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
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)行時間，可以調(diào)整
}
void spin_left(int time) //左轉(zhuǎn)(左輪后退，右輪前進)
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
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)行時間，可以調(diào)整
}
//void right(int time)
void right() //右轉(zhuǎn)(右輪不動，左輪前進)
{
digitalWrite(Right_motor_go,LOW); //右電機后退
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);//左電機前進
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)行時間，可以調(diào)整
}
void spin_right(int time) //右轉(zhuǎn)(右輪后退，左輪前進)
{
digitalWrite(Right_motor_go,LOW); //右電機后退
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);//左電機前進
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))//當按鍵沒被按下時，一直循環(huán)
{
val=digitalRead(key);//此句可省略，可讓循環(huán)跑空
}
while(digitalRead(key))//當按鍵被按下時
{
delay(10); //延時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)
{
//有信號為LOW 沒有信號為HIGH
SR_2 = digitalRead(SensorRight_2);
SL_2 = digitalRead(SensorLeft_2);
if (SL_2 == HIGH&&SR_2==HIGH)//前面沒有障礙物
run(); //調(diào)用前進函數(shù)
else if (SL_2 == HIGH & SR_2 == LOW)// 右邊探測到有障礙物，有信號返回，向左轉(zhuǎn)
left();//調(diào)用左轉(zhuǎn)函數(shù)
else if (SR_2 == HIGH & SL_2 == LOW) //左邊探測到有障礙物，有信號返回，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500ms
}
}
}

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