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Arduino-寻迹小车

Arduino-寻迹小车

作者：Atopos

这是完整的代码，下面有各部分的详解

#define AIN1 7  //定义两个电机  左
#define AIN2 8 
 
#define BIN1 3 //右
#define BIN2 4

#define l A1    //从车尾方向从左到右排序
#define z A2
#define r A3
#define STBY 10

int PWMA=5; //左PWM调速
int PWMB=6; //右

int LED0;   //定义三个用来存储传感器返回值
int LED1;
int LED2;


void setup() {
  
 // 电机驱动模块引脚初始化
  pinMode(AIN1,OUTPUT);
  pinMode(AIN2,OUTPUT);
  pinMode(BIN1,OUTPUT);
  pinMode(BIN2,OUTPUT);

  //循迹模块引脚初始化
  pinMode(A1,INPUT);
  pinMode(A2,INPUT);
  pinMode(A3,INPUT);
  pinMode(PWMA,OUTPUT);
  pinMode(PWMB,OUTPUT);
  pinMode(STBY,OUTPUT);
}

void loop() {

  xunji();
}

void xunji(){
  
  LED0=digitalRead(A1);//这里用之前定义的三个变量来读取传感器的返回值，用与接下来的判断
  LED1=digitalRead(A2);
  LED2=digitalRead(A3);
  digitalWrite(STBY,HIGH);
  
  if(LED0==HIGH&&LED1==LOW&&LED2==HIGH) //正常情况小车正常直行
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,80);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,110);
      delay(30) ;
    }
     else if(LED0==HIGH&&LED1==HIGH&&LED2==HIGH) //三个传感器都接受到信号小车正常行走
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,80);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,110);
      delay(30);
    }
  else if(LED0==LOW&&LED1==HIGH&&LED2==HIGH) //小车左转
  {
    
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,100);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,100);
    delay(50);
    }
  else if(LED0==HIGH&&LED1==HIGH&&LED2==LOW) //小车右转
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,115);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,90);
    delay(30);
    }
  else if(LED0==LOW&&LED1==LOW&&LED2==HIGH) //小车进内圈左转
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,80);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(600);
    }
     else if(LED0==LOW&&LED1==LOW&&LED2==LOW) //遇到十字路口，小车3个感应器都感应到黑线,小车停止
  {
      digitalWrite(STBY,LOW);
      delay(1000);
    }



}

详解

第一部分：线路

放上小车的线路连接图

7bdbc7431f8f5d4e.jpg

Image text

第二部分：代码

UNO板子，电机以及传感器接口的预处理

对每个接口都进行定义

#define AIN1 7  //定义两个电机  左
#define AIN2 8 
 
#define BIN1 3 //右
#define BIN2 4

#define l A1    //从车尾方向从左到右排序
#define z A2
#define r A3
#define STBY 10

int PWMA=5; //左PWM调速
int PWMB=6; //右

int LED0;   //定义三个用来存储传感器返回值
int LED1;
int LED2;

宣告接口状态,也就是初始化各个引脚的状态

void setup() {
  
 // 电机驱动模块引脚初始化
  pinMode(AIN1,OUTPUT);
  pinMode(AIN2,OUTPUT);
  pinMode(BIN1,OUTPUT);
  pinMode(BIN2,OUTPUT);

  //循迹模块引脚初始化
  pinMode(A1,INPUT);
  pinMode(A2,INPUT);
  pinMode(A3,INPUT);
  pinMode(PWMA,OUTPUT);
  pinMode(PWMB,OUTPUT);
  pinMode(STBY,OUTPUT);
}

下面是主程序——loop程序

这里用一个函数代替，方便后续修改，至于后续要修改什么，文章最后会提到

void loop() {

  xunji();
}

最后就是我们的重点——寻迹模块

这也是整个程序的核心

首先，先定义LED0，LED1，LED2，三个变量来接收三个传感器返回过来的高低电频

  LED0=digitalRead(A1);//这里用之前定义的三个变量来读取传感器的返回值，用与接下来的判断
  LED1=digitalRead(A2);
  LED2=digitalRead(A3);
  digitalWrite(STBY,HIGH);

这里用if -else语句，根据传感器返回的值来判断小车的状态，从而做出相应的操作

void xunji(){
  

  if(LED0==HIGH&&LED1==LOW&&LED2==HIGH) //正常情况小车正常直行
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,80);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,110);
      delay(30) ;
    }
     else if(LED0==HIGH&&LED1==HIGH&&LED2==HIGH) //三个传感器都接受到信号小车正常行走
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,80);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,110);
      delay(30);
    }
  else if(LED0==LOW&&LED1==HIGH&&LED2==HIGH) //小车左转
  {
    
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,100);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,100);
    delay(50);
    }
  else if(LED0==HIGH&&LED1==HIGH&&LED2==LOW) //小车右转
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,115);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,90);
    delay(30);
    }
  else if(LED0==LOW&&LED1==LOW&&LED2==HIGH) //小车进内圈左转
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,80);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(600);
    }
     else if(LED0==LOW&&LED1==LOW&&LED2==LOW) //遇到十字路口，小车3个感应器都感应到黑线,小车停止
  {
      digitalWrite(STBY,LOW);
      delay(1000);
    }
}

存在问题

  • 上述程序用的是数字传感器，如果是灰度传感器，不可以用上述程序
  • 还有，程序采用了正反转，这个根据实际情况而定，如果不要求时间，可以让他慢一点
  • 因为测试用的小车电机比较廉价，所以左右电机会有一定的物理误差，也就是给它一样的PWM值
    两个电机的转速是不一样的，这个对小车的寻迹也有一定的影响,所以要经过反复实验，调整合适的PWM值
  • 还有传感器的位置，这个也根据赛道的情况自己调整

更新：四个传感器代码

哥哥接口跟引脚和上述三个传感器的一样，第四个传感器接在A4引脚。从左往右依次为1，2，3，4传感器，pwm速度需要自己调试

#define AIN1 7  //定义两个电机  左
#define AIN2 8 
 
#define BIN1 3 //右
#define BIN2 4

#define l A1    //从车尾方向从左到右排序
#define z A2
#define r A3
#define f A4
#define STBY 10

int PWMA=5; //左PWM调速
int PWMB=6; //右

int LED0;   //定义三个用来存储传感器返回值
int LED1;
int LED2;
int LED3;


void setup() {
  
 // 电机驱动模块引脚初始化
  pinMode(AIN1,OUTPUT);
  pinMode(AIN2,OUTPUT);
  pinMode(BIN1,OUTPUT);
  pinMode(BIN2,OUTPUT);

  //循迹模块引脚初始化
  pinMode(A1,INPUT);
  pinMode(A2,INPUT);
  pinMode(A3,INPUT);
  pinMode(A4,INPUT);
  pinMode(PWMA,OUTPUT);
  pinMode(PWMB,OUTPUT);
  pinMode(STBY,OUTPUT);
}

void loop() {

  xunji();
}

void xunji(){
  
  LED0=digitalRead(A1);//这里用之前定义的四个个变量来读取传感器的返回值，用与接下来的判断
  LED1=digitalRead(A2);
  LED2=digitalRead(A3);
  LED3=digitalRead(A4);
  digitalWrite(STBY,HIGH);
  
  if(LED0==HIGH&&LED1==0&&LED2==0&&LED3==HIGH) //正常情况小车正常直行
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,90);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,95);
      delay(30) ;
    }
     else if(LED0==HIGH&&LED1==HIGH&&LED2==HIGH&&LED3==HIGH) //四个个传感器都接受到信号小车正常行走
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,90);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,95);
      delay(30);
    }
  else if(LED0==HIGH&&LED1==LOW&&LED2==HIGH&&LED3==HIGH) //小车左小调整
  {
    
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,100);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,100);
    delay(80);
    }
      else if(LED0==LOW&&LED1==HIGH&&LED2==HIGH&&LED3==HIGH) //小车左大调整
  {
    
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,100);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,100);
    delay(30);
    }
  else if(LED0==HIGH&&LED1==HIGH&&LED2==LOW&&LED3==HIGH) //小车右小调整
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,130);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,100);
    delay(80);
    }
    else if(LED0==HIGH&&LED1==HIGH&&LED2==HIGH&&LED3==LOW) //小车右大调整
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,130);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,100);
    delay(50);
    }
   else if(LED0==HIGH&&LED1==LOW&&LED2==LOW&&LED3==LOW) //小车右直角
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,125);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,90);
    delay(30);
    }
  else if(LED0==LOW&&LED1==LOW&&LED2==LOW&&LED3==HIGH) //小车进内圈左转
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,90);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(30);
    }
     else if(LED0==LOW&&LED1==HIGH&&LED2==HIGH&&LED3==LOW) //小车进内圈左转
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,90);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(30);
    }
        else if(LED0==LOW&&LED1==HIGH&&LED2==LOW&&LED3==LOW) //小车进内圈左转
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,90);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(30);
    }
     else if(LED0==LOW&&LED1==LOW&&LED2==LOW&&LED3==LOW) //遇到十字路口，小车3个感应器都感应到黑线,小车停止
  {
      digitalWrite(STBY,LOW);
      delay(1000);
    }
}
posted @ 2022-01-13 13:39  Echoooo&  阅读(1071)  评论(0)  编辑  收藏  举报