【Arduino】arduino智能小车红外跟随实验

//  智能小车红外跟随实验
//===============================================================

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)

const int SensorLeft_2 = A4;     //左红外传感器(P3.4 OUT3)
const int SensorRight_2 = A5;    //右红外传感器(P3.5 OUT4)

int SL;    //左循迹红外传感器状态
int SR;    //右循迹红外传感器状态
int SL_2;    //左红外传感器状态
int SR_2;    //右红外传感器状态

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
  pinMode(SensorRight_2, INPUT); //定义右红外传感器为输入
  pinMode(SensorLeft_2, INPUT); //定义左红外传感器为输入
}
//=======================智能小车的基本动作=========================
//void run(int time)     // 前进
void run()     // 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(int time)  //刹车，停车
{
  digitalWrite(Right_motor_go,LOW);
  digitalWrite(Right_motor_back,LOW);
  digitalWrite(Left_motor_go,LOW);
  digitalWrite(Left_motor_back,LOW);
  delay(time * 100);//执行时间，可以调整  
}

//void left(int time)         //左转(左轮不动，右轮前进)
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,175); 
  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
  //delay(time * 100);  //执行时间，可以调整  
}

void spin_left(int time)         //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,250); 
  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,100);//PWM比例0~255调速
  delay(time * 100);  //执行时间，可以调整  
}

//void right(int time)
void right()        //右转(右轮不动，左轮前进)
{
  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,175); 
  analogWrite(Left_motor_back,0);//PWM比例0~255调速
  //delay(time * 100);  //执行时间，可以调整  
}

void spin_right(int time)        //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,100);//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,100); 
  analogWrite(Left_motor_back,0);//PWM比例0~255调速
  delay(time * 100);  //执行时间，可以调整    
}

void back(int time)          //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,100);//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  
}
//==========================================================

void keysacn()//按键扫描
{
  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_2 = digitalRead(SensorRight_2);
    SL_2 = digitalRead(SensorLeft_2);
    if (SL_2 == LOW&&SR_2==LOW)
      run();   //调用前进函数
    else if (SL_2 == HIGH & SR_2 == LOW)// 右边探测到有障碍物，有信号返回，向右转跟随
       right();
    else if (SR_2 == HIGH & SL_2 == LOW) //左边探测到有障碍物，有信号返回，向左转跟随  
       left();
    else // 都是有障碍物, 后退
      back(3);
  }
}

红外跟随实验