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#include<SoftwareSerial.h>
/*******************定義**************************/
//蜂鳴器
int beep_pin=A2;
//電機(jī)定義端口
int IN1 = 13;
int IN2 = 12;
int IN3 = 11;
int IN4 = 10;
//語音定義端口
int IO1 = 4;
int IO2 = 3;
int IO3 = 2;
int IO4 = 1;
int IO5 = 0;
int pin_array[] = {IO5,IO4,IO3,IO2,IO1};
int fisrt_voice[] = {1,1,1,1,0};
int second_voice[] = {1,1,1,0,1};
int third_voice[] = {1,1,0,1,1};
int fourth_voice[] = {1,0,1,1,1};
int fif_voice[] = {0,1,1,1,1};
int six_voice[] = {0,0,1,1,0};
//pwm調(diào)速端口
int left_pin = 5;
int right_pin = 6;
int car_speed = 100;
//超聲波模塊
int TrigPin = A0;
int EchoPin = A1; //接收輸入的脈沖寬度，
//軟串口定義
SoftwareSerial mySerial(8,9);
SoftwareSerial dlSerial(SCL, SDA);
unsigned char play_stop_music[] = {0x7E,0x03,0x1E,0x1D,0xEF};
unsigned char play_add_music[] = {0x7E,0x03,0x15,0x16,0xEF};
/*******************函數(shù)**********************/
void play_addd_music() //語音加
{
dlSerial.listen();
delay(300);
dlSerial.write(play_add_music,sizeof(play_add_music));
}
void beep() //蜂鳴器
{
tone(beep_pin,494);
delay(1000);
noTone(beep_pin);
delay(1000);
}
void set_speed() //[0 ~255] //調(diào)速函數(shù)
{
analogWrite(left_pin,car_speed);
analogWrite(right_pin,car_speed);
}
void init_pin() //電機(jī)初始化
{
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
return;
}
void left_motor_forward() //左電機(jī)直行
{
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
}
void left_motor_back() //左電機(jī)后退
{
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
}
void right_motor_forward() //右電機(jī)直行
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
}
void right_motor_back() //右電機(jī)后退
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
}
void car_forward() //直行
{
left_motor_forward();
right_motor_forward();
delay(1000);
}
void left_stop() //左電機(jī)停
{
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
}
void right_stop() //右電機(jī)停
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
}
void car_left() //車左轉(zhuǎn)彎
{ left_motor_back();
right_motor_forward();
delay(1000);
}
void car_right() //車右轉(zhuǎn)彎
{ left_motor_forward();
right_motor_back();
delay(1000);
}
void car_stop() //車停
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
delay(1000);
}
void car_back() //車后退
{
left_motor_back();
right_motor_back();
delay(1000);
}
void init_yuyin() //語音初始化
{
pinMode(IO5,OUTPUT);
pinMode(IO4,OUTPUT);
pinMode(IO3,OUTPUT);
pinMode(IO2,OUTPUT);
pinMode(IO1,OUTPUT);
}
void play_fisrt_voice() //第一首歌
{
int i = 0;
for(i = 0;i < 5;i++)
{
digitalWrite(pin_array[i],fisrt_voice[i]);
}
delay(1000);
}
void play_second_voice() //第二首歌
{
int i = 0;
for(i = 0;i < 5;i++)
{
digitalWrite(pin_array[i],second_voice[i]);
}
delay(1000);
}
void play_third_voice() //第三首歌
{
int i = 0;
for(i = 0;i < 5;i++)
{
digitalWrite(pin_array[i],third_voice[i]);
}
delay(1000);
}
void play_fourth_voice() //第四首歌
{
int i = 0;
for(i = 0;i < 5;i++)
{
digitalWrite(pin_array[i],fourth_voice[i]);
}
delay(1000);
}
void play_fif_voice() //第五首歌
{
int i = 0;
for(i = 0;i < 5;i++)
{
digitalWrite(pin_array[i],fif_voice[i]);
}
delay(1000);
}
void play_six_voice() //第六首歌
{
int i = 0;
for(i = 0;i < 5;i++)
{
digitalWrite(pin_array[i],six_voice[i]);
}
delay(1000);
}
float getDistance() //得到距離
{
float distance;
digitalWrite(TrigPin,LOW);
delayMicroseconds(2);
digitalWrite(TrigPin,HIGH);
delayMicroseconds(10);
digitalWrite(TrigPin,LOW);
distance = pulseIn(EchoPin,HIGH) /58.00;
return distance;
}
void obstacle() //避障
{
float distance;
car_forward();
while(1)
{
distance = getDistance();
if(distance < 100)
{ beep();
car_back();
delay(500);
car_left();
delay(1500);
play_six_voice();
car_forward();
mySerial.listen();
if(mySerial.available() > 0)
break;
}
else
car_forward();
}
return ;
}
void setup() //setup
{
// put your setup code here, to run once:
init_pin();
init_yuyin();
set_speed();
pinMode(beep_pin,OUTPUT);
pinMode(TrigPin,OUTPUT);
pinMode(EchoPin,INPUT);
mySerial.begin(115200);
dlSerial.begin(9600);
}
void loop() //loop
{
// put your main code here, to run repeatedly:
int ch = 0,i=0;
while(1)
{
mySerial.listen();
if(mySerial.available() > 0)
{
ch = mySerial.read();
switch(ch)
{
case 0xa:car_forward();play_fisrt_voice();break;
case 0xb:car_back();play_second_voice();break;
case 0xd:car_left();play_fourth_voice();break;
case 0xc:car_right();play_third_voice();break;
case 0x11:play_addd_music();break;
case 0xf:obstacle();break;
case 0x10:i++;car_stop();
if(i==1)
play_fif_voice();
if(i==2)
{
dlSerial.listen();
delay(300);
dlSerial.write(play_stop_music,sizeof(play_stop_music));
i=0;
}
break;
default:break;
}
}
}
}

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