mBlock机器人组装教程_试玩：Makeblock 履带机器人入门套件 工业级玩具

本帖最后由 ahagowo 于 2015-4-11 07:24 编辑

/*************************************************************************

* File Name          : DualMode_Starter.ino

* Author             : Jasen

* Updated            : Xiaoyu

* Version            : V1.1.0

* Date               : 5/22/2014

* Description        : Demo code for Makeblock Starter Robot kit,two motors

connect on the M1 and M2 port of baseshield or baseboard, The IR receiver module

connect on port 6 and the Ultrasonic sensor connect on port 3.

The four black button on the IR controller is used to control the direction

of robot, the number button on the IR controller is for changing the speed of the robot.

button 1 is for setting the speed to the slowest,button 9 is for setting the speed to fastest.

We can press the button A(or button TEST the early version of IR controller) to switch operating mode between an ultrasonic obstacle-avoiding robot and an IR contrtol robot.

* License            : CC-BY-SA 3.0

* Copyright (C) 2013 Maker Works Technology Co., Ltd. All right reserved.

**************************************************************************/

#include

#include

#include

MeDCMotor MotorL(M1);

MeDCMotor MotorR(M2);

MeInfraredReceiver infraredReceiverDecode(PORT_6);

MeUltrasonicSensor UltrasonicSensor(PORT_3);

int moveSpeed = 190;

int turnSpeed = 200;

int distance=0;

int randnum = 0;

boolean leftflag,rightflag;

int minSpeed = 45;

int factor = 23;

uint8_t mode = 0;

void setup()

{

infraredReceiverDecode.begin();

leftflag=false;

rightflag=false;

randomSeed(analogRead(0));

Serial.begin(9600);

}

void loop()

{

if(infraredReceiverDecode.available() || infraredReceiverDecode.buttonState())

{

switch(infraredReceiverDecode.read())

{

case IR_BUTTON_PLUS:

TurnLeft();

break;

case IR_BUTTON_MINUS:

TurnRight();

break;

case IR_BUTTON_NEXT:

Forward();

break;

case IR_BUTTON_PREVIOUS:

Backward();

break;

case IR_BUTTON_9:

ChangeSpeed(factor*9+minSpeed);

break;

case IR_BUTTON_8:

ChangeSpeed(factor*8+minSpeed);

break;

case IR_BUTTON_7:

ChangeSpeed(factor*7+minSpeed);

break;

case IR_BUTTON_6:

ChangeSpeed(factor*6+minSpeed);

break;

case IR_BUTTON_5:

ChangeSpeed(factor*5+minSpeed);

break;

case IR_BUTTON_4:

ChangeSpeed(factor*4+minSpeed);

break;

case IR_BUTTON_3:

ChangeSpeed(factor*3+minSpeed);

break;

case IR_BUTTON_2:

ChangeSpeed(factor*2+minSpeed);

break;

case IR_BUTTON_1:

ChangeSpeed(factor*1+minSpeed);

break;

case IR_BUTTON_TEST:

if(++mode==2) mode=0;

delay(100);

break;

default:

//    Stop();

break;

}

}

else

{

if(mode==0)Stop();

else if(millis()%50 == 0)

{

ultrCarProcess();

}

}

}

void Forward()

{

MotorL.run(moveSpeed);

MotorR.run(moveSpeed);

}

void Backward()

{

MotorL.run(-moveSpeed);

MotorR.run(-moveSpeed);

}

void BackwardAndTurnLeft()

{

MotorL.run(-moveSpeed/2);

MotorR.run(-moveSpeed);

}

void BackwardAndTurnRight()

{

MotorL.run(-moveSpeed);

MotorR.run(-moveSpeed/2);

}

void TurnLeft()

{

MotorL.run(-moveSpeed);

MotorR.run(moveSpeed);

}

void TurnRight()

{

MotorL.run(moveSpeed);

MotorR.run(-moveSpeed);

}

void Stop()

{

MotorL.run(0);

MotorR.run(0);

}

void ChangeSpeed(int spd)

{

moveSpeed = spd;

}

void ultrCarProcess()

{

distance = UltrasonicSensor.distanceCm();

Serial.println(distance);

randomSeed(analogRead(A4));

if(distance>10&&distance<40)

{

randnum=random(300);

if(randnum > 190 && !rightflag)

{

leftflag=true;

TurnLeft();

}

else

{

rightflag=true;

TurnRight();

}

}

else if(distance<10)

{

randnum=random(300);

if(randnum > 190)BackwardAndTurnLeft();

else BackwardAndTurnRight();

}

else

{

leftflag=false;

rightflag=false;

Forward();

}

}