电赛小车总结

主控选择：arduino 

难点：数据处理不兼容。解决方案：利用while(1).....break; 单独执行然后跳出。

#define motor_A1 9
#define motor_A2 10
#define motor_A  11
#define motor_B1 6
#define motor_B2 5
#define motor_B  3

int Echo = 13;
int Trig = 12;
int C,D;
void setup() {
  Serial.begin(9600);
  pinMode(Trig,OUTPUT);
  pinMode(Echo,INPUT);
  pinMode(motor_A1,OUTPUT);
  pinMode(motor_A2,OUTPUT);
  pinMode(motor_A,OUTPUT);
  pinMode(motor_B1,OUTPUT);
  pinMode(motor_B2,OUTPUT);
  pinMode(motor_B,OUTPUT);
  pinMode(8,INPUT);
  pinMode(7,INPUT);
}
void xunji()
{
  C=digitalRead(8);//左
  D=digitalRead(7);//右
  if((C==1)&&(D==0)){
    zz();
    delay(10);}
  if((C==0)&&(D==1)){
    yz();
    delay(10);}
  if((C==0)&&(D==0))
  {
    qj();delay(10);}
 }

 void xunji2()
{
  C=digitalRead(8);//左
  D=digitalRead(7);//右
  if((C==1)&&(D==0)){
    digitalWrite(motor_A1,1);
  digitalWrite(motor_A2,0);
  analogWrite(motor_A,0); //PWM
  digitalWrite(motor_B1,1);
  digitalWrite(motor_B2,0);
  analogWrite(motor_B,50); //PWM
    delay(10);}
  if((C==0)&&(D==1)){
   digitalWrite(motor_A1,1);
  digitalWrite(motor_A2,0);
  analogWrite(motor_A,50); //PWM
  digitalWrite(motor_B1,1);
  digitalWrite(motor_B2,0);
  analogWrite(motor_B,0); //PWM
    delay(10);}
  if((C==0)&&(D==0))
  {
    qj();delay(10);}
 }
 int flag = 0;
 int flag2 = 0;
void loop() { //循迹
  while(1)
  {
     go();
     if(flag ==3)
     {
      delay(100);
      break;
      }
    }
    
  flag = 0;
  int distance;
  while(1)
  {
    distance = Distance_test(); //读取超声波传回来的数据
    delay(100);   
    if((distance >=0) && (distance <=15 ))
    {
      tz();
      delay(200);
      break;
     }
     else
     {
      xunji2();
      delay(100);
      }
    }

    while(1)
    {
    digitalWrite(motor_A1,1);
    digitalWrite(motor_A2,0);
    analogWrite(motor_A,100); //PWM
    digitalWrite(motor_B1,0);
    digitalWrite(motor_B2,1);
    analogWrite(motor_B,100); //PWM
    delay(550);
    tz();
    delay(1000);
 

    break;
      } 


  while(1)
  {
    xunji();
     
  if(C == 1 && D == 1 && flag2 == 0)
  {
    digitalWrite(motor_A1,1);
    digitalWrite(motor_A2,0);
    analogWrite(motor_A,100); //PWM
    digitalWrite(motor_B1,1);
    digitalWrite(motor_B2,0);
    analogWrite(motor_B,0); //PWM
    delay(500);
    tz();
    delay(1000);
    flag2=flag2+1;
    delay(1000);
    }
  if(flag2 == 1)
  {
    xunji();
    }
    }
   }


void go()
{
 xunji();
  if(C == 1 && D == 1)
  {
    tz();
    flag=flag+1;
    delay(1000);
    }
  if(flag == 2)
  {
    
    digitalWrite(motor_A1,0);
    digitalWrite(motor_A2,1);
    analogWrite(motor_A,0); //PWM
    digitalWrite(motor_B1,1);
    digitalWrite(motor_B2,0);
    analogWrite(motor_B,100); //PWM
    delay(500);
    tz();
    delay(1000);
    flag = 3;
    }
  }

float Distance_test(){          //量出前方距离
  digitalWrite(Trig,LOW);       //给触发脚高电平2us
  delayMicroseconds(2);         //延时2us
  digitalWrite(Trig,HIGH);      //给触发脚高电平10us，这里至少10us
  delayMicroseconds(10);        //延时10us
  digitalWrite(Trig,LOW);       //持续给触发脚低电
  float Fdistance = pulseIn(Echo,HIGH);//读取高电平时间（单位：微秒）
  Fdistance = Fdistance/58;     //为什么除以58等于厘米  Y=（x秒*344）/2
  return Fdistance;
 
  }
void qj()//前进
{
  digitalWrite(motor_A1,1);
  digitalWrite(motor_A2,0);
  analogWrite(motor_A,50); //PWM调节
  digitalWrite(motor_B1,1);
  digitalWrite(motor_B2,0);
  analogWrite(motor_B,50); //PWM调节
   }
 void ht()//后退
 {
  digitalWrite(motor_A1,0);
  digitalWrite(motor_A2,1);
  analogWrite(motor_A,100); //PWM
  digitalWrite(motor_B1,0);
  digitalWrite(motor_B2,1);
  analogWrite(motor_B,100); //PWM
    }
 void zz()//左转
 {
  digitalWrite(motor_A1,1);
  digitalWrite(motor_A2,0);
  analogWrite(motor_A,0); //PWM
  digitalWrite(motor_B1,1);
  digitalWrite(motor_B2,0);
  analogWrite(motor_B,100); //PWM
   }

 void yz()//右转
 {
  digitalWrite(motor_A1,1);
  digitalWrite(motor_A2,0);
  analogWrite(motor_A,100); //PWM
  digitalWrite(motor_B1,1);
  digitalWrite(motor_B2,0);
  analogWrite(motor_B,0); //PWM
   }
void tz()//停止
{
  digitalWrite(motor_A1,0);
  digitalWrite(motor_A2,0);
  analogWrite(motor_A,0); //PWM
  digitalWrite(motor_B1,0);
  digitalWrite(motor_B2,0);
  analogWrite(motor_B,0); //PWM
   }