arduino霍尔编码器蓝牙小车代码

#include "arduino.h"
#include <Servo.h>

#define IN1 4
#define IN2 5
#define IN3 6
#define IN4 7
String ch;
int OK = 0; //串口接收有数据标志位

Servo servo_0;       //创造舵机0
int car_jioadu = 90; //车的角度
void setup()
{
  Serial.begin(9600);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  servo_0.attach(9);         //舵机0绑定IO口9
  servo_0.write(car_jioadu); //初始化角度为90
}

void loop()
{
  if (OK == 1) //如果串口有数据可读
  {

    if (ch == "0")
    {
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, LOW);
    }
    if (ch == "1")
    {
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, HIGH);
    }
    if (ch == "2")
    {
      digitalWrite(IN1, HIGH);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4, LOW);
    }
    if (ch == "3")
    {
      car_jioadu-=10;
      if (car_jioadu<10)  //限制舵机幅度
      {
       car_jioadu==10;
      }
 
      servo_0.write(car_jioadu);  //转动舵机
    }
    if (ch == "4")       //限制舵机幅度
    {
      car_jioadu+=10;
      if (car_jioadu>170)
      {
       car_jioadu==170;
      }
      
      servo_0.write(car_jioadu); //转动舵机
    }

    if (ch == "5")
    {
      digitalWrite(IN1, HIGH);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, HIGH);
    }
    if (ch == "6")
    {
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4, LOW);
    }

    ch = ""; //数据清零
    OK = 0;
  }
}

void serialEvent() //串口中断
{
  if (Serial.available() > 0)
  {
    ch += char(Serial.read());
    delay(2);
    OK = 1;
  }
}

后续再加入寻距，避障，编码器测速，以及PID调速