基于arduino單片機的尋跡小車程序源碼

ID:245683 · 發表于 2017-11-3 14:20

基于arduino單片機的尋跡小車程序源碼

所有資料51hei提供下載:

XunJin_c3cc3.zip (921 Bytes, 下載次數: 38)

arduino源程序如下:

//R是右(right),L是左(left)小車對著自己看時分的左右
int IN1=10;
int IN2=11;//左輪
int IN3=12;
int IN4=13;//右輪
const int SensorLeft1=A3;//左感測器輸入腳
const int SensorLeft2=A4;
const int SensorRight1=A6;//右感測器輸入腳
const int SensorRight2=A5;
const int ENA=6;
const int ENB=5;
int SL1;
int SL2;//左感測器狀態
int SR1;
int SR2;//右感測器狀態
void setup()
{
Serial.begin(9600);
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(SensorLeft1,INPUT);
pinMode(SensorLeft2,INPUT);
pinMode(SensorRight1,INPUT);
pinMode(SensorRight2,INPUT);
}
void loop()
{
SL1=digitalRead(SensorLeft1);
SL2=digitalRead(SensorLeft2);
SR1=digitalRead(SensorRight1);
SR2=digitalRead(SensorRight2);
if (SL1==LOW &&SL2==LOW&& SR1==LOW&& SR2==LOW)//前進
{
analogWrite(ENA,150);
analogWrite(ENB,150);
digitalWrite(IN1,HIGH);//IN1左電機高電平正轉
digitalWrite(IN2,LOW);//IN2左電機高電平反轉
digitalWrite(IN3,HIGH);//IN3右電機高電平反轉
digitalWrite(IN4,LOW);//IN4右電機高電平正轉
}
else // R是右(right),L是左(left)小車對著自己看時分的左右
if (SL1==HIGH&&SL2==HIGH&&SR1==LOW&&SR2==LOW)//左白右黑,快速左轉
{
delay(1);
analogWrite(ENA,150);
analogWrite(ENB,150);
digitalWrite(IN1,HIGH);//IN3左電機高電平正轉
digitalWrite(IN2,LOW);//IN4左電機高電平反轉
digitalWrite(IN3,LOW);//IN1右電機高電平反轉
digitalWrite(IN4,HIGH);//IN2右電機高電平正轉
}
else
if (SL1==LOW&SL2 == LOW&SR1 == HIGH&SR2==HIGH) //左黑右白,快速右轉
{delay(1);
analogWrite(ENA,150);
analogWrite(ENB,150);
digitalWrite(IN1,LOW);//IN3左電機高電平正轉
digitalWrite(IN2,HIGH);//IN4左電機高電平反轉
digitalWrite(IN3,HIGH);//IN1右電機高電平反轉
digitalWrite(IN4,LOW);//IN2右電機高電平正轉
}
else
if (SL1==HIGH&&SL2==LOW&&SR1==LOW&&SR2==LOW)//左白右黑,慢速左轉
{
delay(1);
analogWrite(ENA,100);
analogWrite(ENB,100);
digitalWrite(IN1,HIGH);//IN3左電機高電平正轉
digitalWrite(IN2,LOW);//IN4左電機高電平反轉
digitalWrite(IN3,LOW);//IN1右電機高電平反轉
digitalWrite(IN4,HIGH);//IN2右電機高電平正轉
}
else
if (SL1==LOW&SL2 == LOW&SR1 == LOW&SR2==HIGH) //左黑右白,慢速右轉
{delay(1);
analogWrite(ENA,100);
analogWrite(ENB,100);
digitalWrite(IN1,LOW);//IN3左電機高電平正轉
digitalWrite(IN2,HIGH);//IN4左電機高電平反轉
digitalWrite(IN3,HIGH);//IN1右電機高電平反轉
digitalWrite(IN4,LOW);//IN2右電機高電平正轉
}
else//都是白色, 停止
{
analogWrite(ENA,0);
analogWrite(ENB,0);
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
}}

復制代碼

帳號		自動登錄	找回密碼
密碼			立即注冊

久久久久久久999_99精品久久精品一区二区爱城_成人欧美一区二区三区在线播放_国产精品日本一区二区不卡视频_国产午夜视频_欧美精品在线观看免费

基于arduino單片機的尋跡小車程序源碼