Arduino智能小车--仅仅是随便一搞
在某宝宝买的智能小车，挺精致的，开心的连接上打印机的线，结果port都没有反应，
查了一下发现是少了驱动，博主用的mac os10.12.3
安装好之后我们再启动arduino 就能够看到新的port了，选择他，我们就能够进行上传代码了。
仅仅是对附赠源代码进行了一下整理。
。。
这个用到了红外遥控，须要一个IRremote库。打包资源在csdn下载里边自行下载，内附说明。感谢智宇科技--链接 感谢智宇科技--链接 感谢智宇科技--链接 感谢智宇科技--链接
链接: https://pan.baidu.com/s/1dFwzx53 password: 2aju
#include <IRremote.h>//包括红外库 关键点
int RECV_PIN = A4;//port声明
IRrecv irrecv(RECV_PIN);
decode_results results;//结构声明
int on = 0;//标志位
unsigned long last = millis();
long run_car = 0x00FF629D;//按键CH
long back_car = 0x00FFA857;//按键+
long left_car = 0x00FF22DD;//按键<<
long right_car = 0x00FFC23D;//按键>||
long stop_car = 0x00FF02FD;//按键>>|
long left_turn = 0x00ffE01F;//按键-
long right_turn = 0x00FF906F;//按键EQ
//避障开关
long avoidopen = 0x00FF42BD;//按键7
long trackingopen = 0x00FF52AD;//按键9
//==============================
int Left_motor_go=8; //左电机前进(IN1)
int Left_motor_back=9; //左电机后退(IN2)
int Right_motor_go=10; // 右电机前进(IN3)
int Right_motor_back=11; // 右电机后退(IN4)
//避障
int key=A2;//定义按键 数字A2 接口
int beep=A3;//定义蜂鸣器 数字A3 接口
int LED=7;//定义LED 数字7 接口
const int SensorRight_2 = 5; //中间红外避障传感器(P3.4 OUT3)
int SR_2; //右红外传感器状态
//循迹
const int SensorRight = 3; //右循迹红外传感器(P3.2 OUT1)
const int SensorLeft = 4; //左循迹红外传感器(P3.3 OUT2)
int SL; //左循迹红外传感器状态
int SR; //右循迹红外传感器状态
void setup()
{
//初始化电机驱动IO为输出方式
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(13, OUTPUT);////port模式，输出
Serial.begin(9600); //波特率9600
irrecv.enableIRIn(); // Start the receiver
//避障
pinMode(key,INPUT);//定义按键接口为输入接口
pinMode(beep,OUTPUT);//定义蜂鸣器为输出接口
pinMode(LED,OUTPUT);//定义LED为输出接口
pinMode(SensorRight, INPUT); //定义右循迹红外传感器为输入
pinMode(SensorLeft, INPUT); //定义左循迹红外传感器为输入
}
void run() // 前进
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);//PWM比例0~255调速，左右轮差异略增减
//analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW); // 左电机前进
digitalWrite(Left_motor_back,HIGH);
//analogWrite(Left_motor_go,0);//PWM比例0~255调速。左右轮差异略增减
//analogWrite(Left_motor_back,200);
//delay(time * 100); //运行时间，能够调整
}
void brake(int time) //刹车，停车
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
delay(time * 100);//运行时间，能够调整
}
void left(int time) //左转(左轮不动，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);
analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,0);//PWM比例0~255调速
delay(time * 100); //运行时间。能够调整
}
void spin_left(int time) //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,200);
analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,200);
analogWrite(Left_motor_back,0);//PWM比例0~255调速
delay(time * 100); //运行时间，能够调整
}
void spin_right(int time) //右转(右轮后退。左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,200);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,200);//PWM比例0~255调速
delay(time * 100); //运行时间，能够调整
}
void back(int time) //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0);
analogWrite(Right_motor_back,150);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,150);
analogWrite(Left_motor_back,0);//PWM比例0~255调速
delay(time * 100); //运行时间，能够调整
}
void brake() //刹车，停车
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
//delay(time * 100);//运行时间，能够调整
}
void left() //左转(左轮不动，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //运行时间，能够调整
}
void spin_left() //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,200);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //运行时间，能够调整
}
void right() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
//analogWrite(Left_motor_go,0);
// analogWrite(Left_motor_back,200);//PWM比例0~255调速
// delay(time * 100); //运行时间，能够调整
}
void spin_right() //右转(右轮后退，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,HIGH);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,200);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW);//左电机前进
digitalWrite(Left_motor_back,HIGH);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,200);//PWM比例0~255调速
//delay(time * 100); //运行时间，能够调整
}
void back() //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,150);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH); //左轮后退
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,150);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //运行时间。能够调整
}
void dump(decode_results *results)
{
int count = results->rawlen;
if (results->decode_type == UNKNOWN)
{
//Serial.println("Could not decode message");
brake();
}
//串口打印，调试时能够打开，实际运行中会影响反应速度，建议屏蔽
/*
else
{
if (results->decode_type == NEC)
{
Serial.print("Decoded NEC: ");
}
else if (results->decode_type == SONY)
{
Serial.print("Decoded SONY: ");
}
else if (results->decode_type == RC5)
{
Serial.print("Decoded RC5: ");
}
else if (results->decode_type == RC6)
{
Serial.print("Decoded RC6: ");
}
Serial.print(results->value, HEX);
Serial.print(" (");
Serial.print(results->bits, DEC);
Serial.println(" bits)");
}
Serial.print("Raw (");
Serial.print(count, DEC);
Serial.print("): ");
for (int i = 0; i < count; i++)
{
if ((i % 2) == 1)
{
Serial.print(results->rawbuf[i]*USECPERTICK, DEC);
}
else
{
Serial.print(-(int)results->rawbuf[i]*USECPERTICK, DEC);
}
Serial.print(" ");
}
Serial.println("");
*/
}
//==========================================================
//避障改为遥控器，此处能够忽略掉
void keysacn()//按键扫描
{
int val;
val=digitalRead(key);//读取数字7 口电平值赋给val
while(!digitalRead(key))//当按键没被按下时。一直循环
{
val=digitalRead(key);//此句可省略，可让循环跑空
}
while(digitalRead(key))//当按键被按下时
{
delay(10); //延时10ms
val=digitalRead(key);//读取数字7 口电平值赋给val
if(val==HIGH) //第二次推断按键是否被按下
{
digitalWrite(beep,HIGH); //蜂鸣器响
while(!digitalRead(key)) //推断按键是否被松开
digitalWrite(beep,LOW); //蜂鸣器停止
}
else
digitalWrite(beep,LOW);//蜂鸣器停止
}
}
//避障程序
void avoid()
{
//改动为遥控器控制
//keysacn(); //调用按键扫描函数
while(1)
{
//有信号为LOW 没有信号为HIGH 有障碍物输出0 没有障碍物输出1
SR_2 = digitalRead(SensorRight_2);
if (SR_2==HIGH)//前面没有障碍物
{
run(); //调用前进函数
digitalWrite(beep,LOW); //蜂鸣器不响
digitalWrite(LED,LOW); //LED不亮
}
else if ( SR_2 == LOW)// 前面探測到有障碍物，有信号返回
{
digitalWrite(beep,HIGH); //蜂鸣器响
digitalWrite(LED,HIGH); //LED亮
brake(3);//停止300MS
back(4);//后退400MS
left(5);//调用左转函数 延时500ms
}
}
}
void tracking(){
while(1)
{
//有信号为LOW 没有信号为HIGH 检測到黑线 输出高 检測到白色区域输出低
SR = digitalRead(SensorRight);//有信号表明在白色区域。车子底板上L1亮；没信号表明压在黑线上。车子底板上L1灭
SL = digitalRead(SensorLeft);//有信号表明在白色区域。车子底板上L2亮；没信号表明压在黑线上，车子底板上L2灭
if (SL == LOW&&SR==LOW)
run(); //调用前进函数
else if (SL == HIGH & SR == LOW)// 左循迹红外传感器,检測到信号，车子向右偏离轨道，向左转
left();
else if (SR == HIGH & SL == LOW) // 右循迹红外传感器,检測到信号。车子向左偏离轨道，向右转
right();
else // 都是黑色, 停止
brake();
}
}
void loop()
{
if (irrecv.decode(&results)) //调用库函数：解码
{
// If it's been at least 1/4 second since the last
// IR received, toggle the relay
if (millis() - last > 250) //确定接收到信号
{
on = !on;//标志位置反
digitalWrite(13, on ? HIGH : LOW);//板子上接收到信号闪烁一下led
dump(&results);//解码红外信号
}
if (results.value == run_car )//按键CH
run();//前进
if (results.value == back_car )//按键+
back();//后退
if (results.value == left_car )//按键<<
left();//左转
if (results.value == right_car )//按键>||
right();//右转
if (results.value == stop_car )//按键>>|
brake();//停车
if (results.value == left_turn )//按键-
spin_left();//左旋转
if (results.value == right_turn )//按键EQ
spin_right();//右旋转
if (results.value == avoidopen)//按键7
avoid();// 开启智能避障
if (results.value == trackingopen)//按键9
tracking();
last = millis();
irrecv.resume(); // Receive the next value
}
}
