Arduino 超声波避障循迹小车，四轮智能小车

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Arduino 超声波避障循迹小车，智能小车

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前言

所用到的元器件有：arduino uno1块，L298直流电机驱动板2块，lcd1602带iic1块，HC-05超声波模1块，led灯，直流电机2个，循迹模块4个，有源蜂鸣器1个

一、仿真原理图

二、使用步骤

当智能小车离障碍物只有20cm时，小车左转，然后前进，当第2和第3个循迹模块遇到黑线时小车前进，第1个和第2个循迹模块遇到黑线时小车左转，第3个和第4个循迹模块遇到黑线时小车右转。

1.引入库

代码如下（示例）：

#include <Wire.h>   
#include <LiquidCrystal_I2C.h> 
 lcd.print("如有不懂的地方加作者Q：2188263281"); 

2.程序

代码如下（示例）：

#include <Wire.h>   
#include <LiquidCrystal_I2C.h> //引用lcd1602I2C库  
  
//设置LCD1602设备地址，这里的地址是0x3F，一般是0x20，或者0x27，具体看模块手册  
LiquidCrystal_I2C lcd(0x27,20,4); 
const int Pin1 =  2;    
const int Pin2 =  3;    
const int Pin3 =  4;     
const int Pin4 =  5;     
const int Pin5 =  6;      
const int Pin6 =  7;      
const int Pin7 =  8;      
const int Pin8 =  9;     
const int TrigPin = 10; 
const int EchoPin = 11; 
const int fmq = 12;
const int gd1= A0;
const int gd2= A1;
const int gd3= A2;
const int gd4= A3;
int cm;
int sensor[5];
void setup() {
lcd.init();                  // 初始化LCD  
lcd.backlight();             //设置LCD背景等亮
for(int a = 2; a < 11;a++)
{
  pinMode(a, OUTPUT);
}
  pinMode(A0, INPUT);
  pinMode(A1, INPUT);
  pinMode(A2, INPUT);
  pinMode(A3, INPUT);
  Serial.begin(9600);
  pinMode(EchoPin, INPUT);
  pinMode(fmq, OUTPUT);
}
void loop() {
  // put your main code here, to run repeatedly:
    digitalWrite(TrigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(TrigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(TrigPin, LOW); 
    cm = pulseIn(EchoPin, HIGH) / 58.0;
    //算成厘米 
    cm = (int(cm * 100.0)) / 100.0;
    //保留两位小数 
    lcd.setCursor(0,0);             
    lcd.print(cm + 1);    
    lcd.setCursor(3,0);          
    lcd.print("cm");   
    sensor[0]=digitalRead(A0);
    sensor[1]=digitalRead(A1);
    sensor[2]=digitalRead(A2);
    sensor[3]=digitalRead(A3);
    if(sensor[0] == 0&& sensor[1] == 0&& sensor[2] == 1&&sensor[3] == 0)  //0010
      {
       moto_run4(); //右转
      }
    else if(sensor[0] == 0&& sensor[1] == 0&& sensor[2] == 0&&sensor[3] == 1)  //0001
     {
        moto_run4() ;//右转
     }else if(sensor[0] == 0&& sensor[1] == 1&& sensor[2] == 0&&sensor[3] == 0)  //0100
      {
        moto_run3(); //左转
      }else if(sensor[0] == 1&& sensor[1] == 0&& sensor[2] == 0&&sensor[3] == 0)  //1000
      {
        moto_run3(); //左转
       }else if(sensor[0] == 0&& sensor[1] == 1&& sensor[2] == 1&&sensor[3] == 0)  //0110
       {
        moto_run1(); //直行
       }else if(cm < 20)
    {
      digitalWrite(fmq, 1);
      
        moto_run3(); //左转
      delay(3000);
    }else if(sensor[0] == 0&& sensor[1] == 0&& sensor[2] == 0&&sensor[3] == 0)
    {
      moto_run1(); //向前
      
      digitalWrite(fmq, 0);
    }
}

  void moto_run1()//向前
{

      digitalWrite(Pin1, 1);
      digitalWrite(Pin2, 0);
      digitalWrite(Pin3, 1);
      digitalWrite(Pin4, 0);
      
      digitalWrite(Pin5, 1);
      digitalWrite(Pin6, 0);
      digitalWrite(Pin7, 1);
      digitalWrite(Pin8, 0);
}
  void moto_run2()//向后
   {
      digitalWrite(Pin1, 0);
      digitalWrite(Pin2, 1);
      digitalWrite(Pin3, 0);
      digitalWrite(Pin4, 1);
      
      digitalWrite(Pin5, 0);
      digitalWrite(Pin6, 1);
      digitalWrite(Pin7, 0);
      digitalWrite(Pin8, 1);
}
  void moto_run3()//向左
   { 
      digitalWrite(Pin1, 0);
      digitalWrite(Pin2, 1);
      digitalWrite(Pin3, 0);
      digitalWrite(Pin4, 1);
      
      digitalWrite(Pin5, 1);
      digitalWrite(Pin6, 0);
      digitalWrite(Pin7, 1);
      digitalWrite(Pin8, 0);
   }  
void moto_run4()//向右
   {
       digitalWrite(Pin1,1);
      digitalWrite(Pin2, 0);
      digitalWrite(Pin3, 1);
      digitalWrite(Pin4, 0);
      
      digitalWrite(Pin5, 0);
      digitalWrite(Pin6, 1);
      digitalWrite(Pin7, 0);
      digitalWrite(Pin8, 1);
   } 
void moto_run5()//停止
   {
      digitalWrite(Pin1,0);
      digitalWrite(Pin2, 0);
      digitalWrite(Pin3, 0);
      digitalWrite(Pin4, 0);
      
      digitalWrite(Pin5, 0);
      digitalWrite(Pin6, 0);
      digitalWrite(Pin7, 0);
      digitalWrite(Pin8, 0);
   }

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总结

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例如：以上就是今天要讲的内容，本文仅仅简单介绍了智能小车的使用。