使用Arduino驱动小车前后左右行走

最新推荐文章于 2024-04-28 17:25:27 发布
Llingmiao
最新推荐文章于 2024-04-28 17:25:27 发布
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文章标签：物联网智能家居
本文链接：https://blog.csdn.net/Llingmiao/article/details/130906716
版权
第一步使用ESP8266 实现透传（使用的贝壳物联）
第二步使用YB智能小车51控制板
代码如下：
/*
  注意 ：Arduino IDE版本请使用1.6.5-1.8.2
  ESP8266模块在接Arduino之前请确定透传稳定性，在串口查看ESP8266是否能多次收到WELCOME TO BIGIOT,
  能多次收到说明透传稳定且能自动重连。
  时间：2018.12.4
  作者：www.bigiot.net
*/

#include <aJSON.h>
//=============  此处必须修该============
String DEVICEID = "1XXX"; // 你的设备ID   ==
String  APIKEY = "d33XXXX"; //设备密码=
//=======================================

const int LED = 4;// LED正极连接针脚4
unsigned long lastCheckStatusTime = 0; //记录上次报到时间
const unsigned long postingInterval = 40000; // 每隔40秒向服务器报到一次
unsigned long checkoutTime = 0;//登出时间
int ledState = 0;

//============================亚博智能===========================
//  智能小车前进实验
//===============================================================

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 control = 150;//PWM控制量

void setup() {
  pinMode(LED, OUTPUT);

  //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)
  
  Serial.begin(115200);
  delay(5000);//等一会儿ESP8266
}

void run(int time)     // 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,HIGH);  // 左电机前进
  digitalWrite(Left_motor_back,LOW);
  analogWrite(Left_motor_go,200);//PWM比例0~255调速，左右轮差异略增减
  analogWrite(Left_motor_back,0);
  delay(time * 100);   //执行时间，可以调整 
}


void brake()         //刹车，停车
{
  digitalWrite(Left_motor_back, LOW);
  digitalWrite(Left_motor_go, LOW);
  digitalWrite(Right_motor_go, LOW);
  digitalWrite(Right_motor_back, LOW);
  //delay(time * 100);//执行时间，可以调整
}

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, 180);//control);
  //analogWrite(Right_motor_back,0);//PWM比例0~255调速
  digitalWrite(Left_motor_go, LOW);  //左轮不动
  digitalWrite(Left_motor_back, LOW);
  //analogWrite(Left_motor_go,0);
  //analogWrite(Left_motor_back,0);//PWM比例0~255调速
  delay(100); //执行时间，可以调整
  digitalWrite(Right_motor_go, LOW);  //全部停止
  delay(100); //执行时间，可以调整
}

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,control);
  //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,control);//PWM比例0~255调速
  //delay(time * 100);  //执行时间，可以调整
}

void right()        //右转(右轮不动，左轮前进)
{
  digitalWrite(Right_motor_go, LOW);  //右电机不动
  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,180);  //control);
  delay(100); //执行时间，可以调整
  digitalWrite(Left_motor_go, LOW); //全部停止
  delay(100); //执行时间，可以调整
}

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,control);//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_go,control);//PWM比例0~255调速
  //delay(time * 100);  //执行时间，可以调整
}

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,control);//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,control);//PWM比例0~255调速
  //delay(time * 100);     //执行时间，可以调整
}

void loop() {
  //每一定时间查询一次设备在线状态，同时替代心跳
  if (millis() - lastCheckStatusTime > postingInterval) {
    checkStatus();
  }
  //checkout 50ms 后 checkin
  if ( checkoutTime != 0 && millis() - checkoutTime > 50 ) {
    checkIn();
    checkoutTime = 0;
  }
  //读取串口信息
  while (Serial.available()) {
    String inputString = Serial.readStringUntil('\n');
    //检测json数据是否完整
    int jsonBeginAt = inputString.indexOf("{");
    int jsonEndAt = inputString.lastIndexOf("}");
    if (jsonBeginAt != -1 && jsonEndAt != -1) {
      //净化json数据
      inputString = inputString.substring(jsonBeginAt, jsonEndAt + 1);
      int len = inputString.length() + 1;
      char jsonString[len];
      inputString.toCharArray(jsonString, len);
      aJsonObject *msg = aJson.parse(jsonString);
      processMessage(msg);
      aJson.deleteItem(msg);
    }
  }
}
//设备登录
//{"M":"checkin","ID":"xx1","K":"xx2"}\n
void checkIn() {
  Serial.print("{\"M\":\"checkin\",\"ID\":\"");
  Serial.print(DEVICEID);
  Serial.print("\",\"K\":\"");
  Serial.print(APIKEY);
  Serial.print("\"}\r\n");
}
//处理网络接收到到指令，执行相关动作
void processMessage(aJsonObject *msg) {
  aJsonObject* method = aJson.getObjectItem(msg, "M");
  if (!method) {
    return;
  }
  String M = method->valuestring;
  if (M == "WELCOME TO BIGIOT") {
    checkOut();
    checkoutTime = millis();
    return;
  }
  if (M == "connected") {
    checkIn();
  }
  if (M == "say") {
    aJsonObject* content = aJson.getObjectItem(msg, "C");
    aJsonObject* client_id = aJson.getObjectItem(msg, "ID");
    String C = content->valuestring;
    String F_C_ID = client_id->valuestring;
    if (C == "play") {
      digitalWrite(LED, HIGH);
      run(10);   //前进
      say(F_C_ID, "LED on!");
    }
    if (C == "up") {
      digitalWrite(LED, HIGH);
      run(10);   //前进
      say(F_C_ID, "LED on!");
    }
    if (C == "stop" || C == "pause") {
      digitalWrite(LED, LOW);
      brake();
      say(F_C_ID, "LED off!");
    }
    if (C == "right") {
      digitalWrite(LED, HIGH);
      right();   //向右
      say(F_C_ID, "LED on!");
    }
    if (C == "left") {
      digitalWrite(LED, HIGH);
      left();   //向右
      say(F_C_ID, "LED on!");
    }
    if (C == "backward") {
      digitalWrite(LED, HIGH);
      spin_left();   //加速向左
      say(F_C_ID, "LED on!");
    }
    if (C == "forward") {
      digitalWrite(LED, HIGH);
      spin_right();   //加速向右
      say(F_C_ID, "LED on!");
    }
    if (C == "down") {
      digitalWrite(LED, HIGH);
      back();   //向后
      say(F_C_ID, "LED on!");
    }
    if (C == "offOn") {
      ledState = digitalRead(LED);
      if (ledState == HIGH) {
        digitalWrite(LED, LOW);
        say(F_C_ID, "LED PowerOFF");
      } else {
        digitalWrite(LED, HIGH);
        say(F_C_ID, "LED PowerON");
      }
    }
  }
}

//发送say指令，用于设备与用户、设备与设备间通讯
//{"M":"say","ID":"xx1","C":"xx2","SIGN":"xx3"}\n
void say(String ID, String c) {
  Serial.print("{\"M\":\"say\",\"ID\":\"");
  Serial.print(ID);
  Serial.print("\",\"C\":\"");
  Serial.print(c);
  Serial.print("\"}\r\n");
}
//强制设备下线，用消除设备掉线延时
//{"M":"checkout","ID":"xx1","K":"xx2"}\n
void checkOut() {
  Serial.print("{\"M\":\"checkout\",\"ID\":\"");
  Serial.print(DEVICEID);
  Serial.print("\",\"K\":\"");
  Serial.print(APIKEY);
  Serial.print("\"}\n");
}
//查询设备在线状态
//{"M":"status"}\n
void checkStatus() {
  Serial.print("{\"M\":\"status\"}\n");
  lastCheckStatusTime = millis();
}