//#include <Servo.h>
int Left_motor_back=8; //左電機后退(IN1)
int Left_motor_go=9; //左電機前進(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 數字7 接口
int beep=12;//定義蜂鳴器 數字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)
int SL; //左循跡紅外傳感器狀態
int SR; //右循跡紅外傳感器狀態
int Echo = A1; // Echo回聲腳(P2.0)
int Trig =A0; // Trig 觸發腳(P2.1)
int Distance = 0;
void setup()
{
//初始化電機驅動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
Serial.begin(9600); // 初始化串口
pinMode(Echo, INPUT); // 定義超聲波輸入腳
pinMode(Trig, OUTPUT); // 定義超聲波輸出腳
}
//=======================智能小車的基本動作=========================
//void run(int time) // 前進
void run()
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,125);//PWM比例0~255調速，左右輪差異略增減
analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,HIGH); // 左電機前進
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,125);//PWM比例0~255調速，左右輪差異略增減
analogWrite(Left_motor_back,0);
//delay(time * 100); //執行時間，可以調整
}
//void brake(int time) //剎車，停車
void brake()
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
//delay(time * 100);//執行時間，可以調整
}
//void left(int time) //左轉(左輪不動，右輪前進)
void left()
{
digitalWrite(Right_motor_go,HIGH); // 右電機前進
digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,125);
analogWrite(Right_motor_back,0);//PWM比例0~255調速
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調速
//delay(time * 100); //執行時間，可以調整
}
void spin_left(int time) //左轉(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調速
digitalWrite(Left_motor_go,LOW); //左輪后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,200);//PWM比例0~255調速
delay(time * 100); //執行時間，可以調整
}
//void right(int time) //右轉(右輪不動，左輪前進)
void right()
{
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調速
digitalWrite(Left_motor_go,HIGH);//左電機前進
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,125);
analogWrite(Left_motor_back,0);//PWM比例0~255調速
//delay(time * 100); //執行時間，可以調整
}
void spin_right(int time) //右轉(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調速
digitalWrite(Left_motor_go,HIGH);//左電機前進
digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,200);
analogWrite(Left_motor_back,0);//PWM比例0~255調速
delay(time * 100); //執行時間，可以調整
}
//void back(int time) //后退
void back(int time)
{
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調速
digitalWrite(Left_motor_go,LOW); //左輪后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);
analogWrite(Left_motor_back,150);//PWM比例0~255調速
delay(time * 100); //執行時間，可以調整
}
//==========================================================
void keysacn()//按鍵掃描
{
int val;
val=digitalRead(key);//讀取數字7 口電平值賦給val
while(!digitalRead(key))//當按鍵沒被按下時，一直循環
{
val=digitalRead(key);//此句可省略，可讓循環跑空
}
while(digitalRead(key))//當按鍵被按下時
{
delay(10); //延時10ms
val=digitalRead(key);//讀取數字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 Distance_test() // 量出前方距離
{
digitalWrite(Trig, LOW); // 給觸發腳低電平2μs
delayMicroseconds(2);
digitalWrite(Trig, HIGH); // 給觸發腳高電平10μs，這里至少是10μs
delayMicroseconds(10);
digitalWrite(Trig, LOW); // 持續給觸發腳低電
float Fdistance = pulseIn(Echo, HIGH); // 讀取高電平時間(單位：微秒)
Fdistance= Fdistance/58; //為什么除以58等于厘米， Y米=（X秒*344）/2
// X秒=（ 2*Y米）/344 ==》X秒=0.0058*Y米 ==》厘米=微秒/58
Serial.print("Distance:"); //輸出距離（單位：厘米）
Serial.println(Fdistance); //顯示距離
Distance = Fdistance;
}
void loop()
{
keysacn();//調用按鍵掃描函數
while(1)
{
Distance_test();//測試前方距離
//有信號為LOW 沒有信號為HIGH
SR = digitalRead(SensorRight);//有信號表明在白色區域，車子底板上L3亮；沒信號表明壓在黑線上，車子底板上L3滅
SL = digitalRead(SensorLeft);//有信號表明在白色區域，車子底板上L2亮；沒信號表明壓在黑線上，車子底板上L2滅
if((Distance < 10)||(Distance > 400))//如果距離小于10cm或大于400cm（小于2cm數值也大于400）距離都可自行調節，另跑道比較空曠，可去掉Distance > 400這一條件
brake();//停車
else
{
if (SL == LOW&&SR==LOW)
run(); //調用前進函數
else if (SL == HIGH & SR == LOW)// 左循跡紅外傳感器,檢測到信號，車子向右偏離軌道，向左轉
left();
else if (SR == HIGH & SL == LOW) // 右循跡紅外傳感器,檢測到信號，車子向左偏離軌道，向右轉
right();
else // 都是黑色, 停止
brake();
}
}
}
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