基于Arduino的循迹小车

一.大体介绍

 二.代码实现

//======================================================= 
//                   期末大作业——————Derek
//
//
//
//
//                      智能小车黑线循迹实验
//===============================================================

int Left_motor_back=9;     //左电机后退(IN1)
int Left_motor_go=5;     //左电机前进(IN2)
int Right_motor_go=6;    // 右电机前进(IN3)
int Right_motor_back=10;    // 右电机后退(IN4)

int key=A0;//定义循迹按键 A0 接口
int beep=A1;//定义蜂鸣器 A1 接口

const int SensorRight = A2;     //右循迹红外传感器(P3.2 OUT1)
const int SensorLeft = A3;      //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 5 (PWM)
  pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)
  pinMode(Right_motor_go,OUTPUT);// PIN 6 (PWM) 
  pinMode(Right_motor_back,OUTPUT);// PIN 10 (PWM)
  pinMode(key,INPUT);//定义按键接口为输入接口
  pinMode(beep,OUTPUT);
  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
}

//=======================智能小车的基本动作=========================


// 前进
void run()
{
  digitalWrite(Right_motor_go,HIGH);  // 右电机前进
  digitalWrite(Right_motor_back,LOW);     
  analogWrite(Right_motor_go,100);//PWM比例0~255调速，左右轮差异略增减
  analogWrite(Right_motor_back,0);
  digitalWrite(Left_motor_go,HIGH);  // 左电机前进
  digitalWrite(Left_motor_back,LOW);
  analogWrite(Left_motor_go,100);//PWM比例0~255调速，左右轮差异略增减
  analogWrite(Left_motor_back,0);
}

//刹车，停车
void brake()
{
  digitalWrite(Right_motor_go,LOW);
  digitalWrite(Right_motor_back,LOW);
  digitalWrite(Left_motor_go,LOW);
  digitalWrite(Left_motor_back,LOW);  
}

//左转(左轮不动，右轮前进)
void left()
{
  digitalWrite(Right_motor_go,HIGH);  // 右电机前进
  digitalWrite(Right_motor_back,LOW);
  analogWrite(Right_motor_go,50); 
  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
}
//左旋转(左轮后退，右轮前进)
void spin_left(int time)         
{
  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,HIGH);
  analogWrite(Left_motor_go,0); 
  analogWrite(Left_motor_back,200);//PWM比例0~255调速
}

//右转(右轮不动，左轮前进)
void right()
{
  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,HIGH);//左电机前进
  digitalWrite(Left_motor_back,LOW);
  analogWrite(Left_motor_go, 50); 
  analogWrite(Left_motor_back,0);//PWM比例0~255调速
}

//右旋转(右轮后退，左轮前进)
void spin_right(int time)        
{
  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,HIGH);//左电机前进
  digitalWrite(Left_motor_back,LOW);
  analogWrite(Left_motor_go,200); 
  analogWrite(Left_motor_back,0);//PWM比例0~255调速
}

//后退
void back(int time)
{
  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,LOW);  //左轮后退
  digitalWrite(Left_motor_back,HIGH);
  analogWrite(Left_motor_go,0);
  analogWrite(Left_motor_back,150);//PWM比例0~255调速
  delay(time * 100);     //执行时间，可以调整  
}
//==========================================================
//循迹按键扫描
void keysacn()
{
  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)  //第二次判断按键是否被按下
    {
      digitalWrite(beep,HIGH);    //蜂鸣器响
      while(!digitalRead(key))  //判断按键是否被松开
        digitalWrite(beep,LOW);   //蜂鸣器停止
    }
    else
      digitalWrite(beep,LOW);//蜂鸣器停止
  }
}



void loop()
{ 
  keysacn();//调用按键扫描函数  
  while(1)
  {
  //有信号为LOW  没有信号为HIGH
  SR = digitalRead(SensorRight);//有信号表明在白色区域，车子底板上L3亮；没信号表明压在黑线上，车子底板上L3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,检测到信号，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,检测到信号，车子向左偏离轨道，向右转  
    right();
  else // 都是黑色, 停止
  brake();
  }
}

 三.作品展示

基于Arduino的循迹小车