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標題: 國外找的arduino循跡智能車安裝方法及代碼 [打印本頁]
作者: ACCLOO    時間: 2018-4-22 12:35
標題: 國外找的arduino循跡智能車安裝方法及代碼
循跡智能車安裝方法


arduino單片機源程序如下:
  1. /* Arduino Object Avoidance Car
  2. * By Kevin Cho
  3. *
  4. * Inspired by http://www.instructables.com/id/Simple-Arduino-and-HC-SR04-Example/
  5. * PWM setup value from :http://playground.arduino.cc/Code/PwmFrequency
  6. *
  7. * This code allows an Arduino Smart employing HC-SR04 Ping distance sensor to identify an obstacle on its path and turns
  8. * left to avoid it.
  9. *
  10. * ===== Ultrasonic Sensor (HC-SR04) =====
  11. * pins:
  12. * Echo to digital input (see pin assignment below)
  13. * Trig to digital input (see ping assignmanet below)
  14. *
  15. * ===== motor output =====
  16. * 3 outputs for the left motor control
  17. * 3 outputs for the right motor control
  18. *
  19. * See below for pin assignment for Arduino digital ports.
  20. * PWM control must be on PWM pins 3, 5, 6, 9, 10 and 11.
  21. */

  23. //Pin assignment
  24. const int usTrigPin = 3; //connects to Arduino digital pin #2
  25. const int usEchoPin = 4; //connects to Arduino digital pin #3

  27. const int lMotPos = 6;  //left motor(+)
  28. const int lMotNeg = 7;  //left motor(-1)

  30. const int rMotNeg = 8;  //right motor (-1)
  31. const int rMotPos = 11; //right motor (+1)

  33. const int led = 13;      //Arduino built-in led. No connection required

  35. //operational parameters
  36. const int paceOfSound = 29.15;  //pace of sound = 1/speed of sound
  37.                                 //              = 1/0.03435 cm/ss
  38.                                 //              = 29.15 us/cm

  40. //CALIBRATION
  41. int turningPoint = 20;  //turn when an obstacle is within 20cm (approx 8in)

  43. //wait 100msec until next sensor check.
  44. int sensDelay = 100;

  46. //used only in testing phase
  47. boolean DEBUG = false;    //change to true when debuging. See serial monitor for log

  49. // the setup routine runs once when you press reset or power on
  50. void setup() {
  51.    //set digital pin modes for ultrasonic sensors
  52.   pinMode(usTrigPin, OUTPUT);
  53.   pinMode(usEchoPin, INPUT);

  55.   //set digital pin mode for built-in led
  56.   pinMode(led, OUTPUT);

  58.   if (DEBUG) Serial.begin (115200); //set the serial monitor transfer speed
  59.   
  60.   delay (1000);  //wait 1 sec before going
  61. }


  64. void loop() {  

  66.   int distance;
  67.   
  68.   // call getDistance to get the distance to an obstacle. Ignore anything farther than 100cm
  69.   distance = getDistance();
  70.   
  71.   if (distance >= turningPoint || distance <= 0) {
  72.       goForward();
  73.       digitalWrite(led, LOW);  //led off
  74.   } else {
  75.       if (DEBUG) {
  76.         Serial.println("Alert: Turn left");
  77.       }
  78.    
  79.       turnLeft();
  80.       digitalWrite(led, HIGH);  //led on
  81.   }
  82.   
  83.   delay(sensDelay);
  84. }

  86. int getDistance() {
  87.   
  88.   long duration, distance;
  89.   
  90.   digitalWrite(usTrigPin, LOW);  // Added this line
  91.   delayMicroseconds(2); // Added this line

  93.   //send 10 micro second pulse to trigger
  94.   digitalWrite(usTrigPin, HIGH);
  95.   delayMicroseconds(10); // Added this line per spec (spec says at least 10us)
  96.   digitalWrite(usTrigPin, LOW);

  98.   //Below step wait for HIGH upto a second (default) on the Echo pin before timing out.
  99.   duration = pulseIn(usEchoPin, HIGH);   //wait for HIGH
  100.                                          
  101.   //calculate the distance in cm
  102.   distance = (duration/2) / paceOfSound;

  104.   //We don't care about distance of more than 100cm
  105.   if (distance >= 100 || distance <= 0){
  106.       if (DEBUG) Serial.println("getDistance: Out of range");
  107.       return 0;
  108.   } else {
  109.       if (DEBUG) {
  110.         Serial.print("getDistance: ");
  111.         Serial.print(distance);
  112.         Serial.println(" cm");
  113.       }
  114.       return distance;
  115.   }
  116. }  

  118. void goForward ()
  119. {
  120.   digitalWrite (lMotNeg, LOW);
  121.   digitalWrite (lMotPos, HIGH);   
  122.   digitalWrite (rMotNeg, LOW);   
  123.   digitalWrite (rMotPos, HIGH);
  124. }

  126. void turnLeft ()
  127. {
  128.   digitalWrite (lMotNeg, HIGH);  
  129.   digitalWrite (lMotPos, LOW);
  130.   digitalWrite (rMotNeg, LOW);   
  131.   digitalWrite (rMotPos, HIGH);
  132. }

  134. void turnRight ()
  135. {
  136.   digitalWrite (lMotNeg, LOW);  
  137.   digitalWrite (lMotPos, HIGH);
  138.   digitalWrite (rMotNeg, HIGH);   
  139. ……………………

  141. …………限于本文篇幅 余下代碼請從51黑下載附件…………
復制代碼

所有資料51hei提供下載:
小車安裝.rar (11.3 MB, 下載次數: 20)
源代碼.rar (3.61 KB, 下載次數: 16)







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