esp32的小车代码

最新推荐文章于 2024-08-05 15:24:51 发布

Wwm52

最新推荐文章于 2024-08-05 15:24:51 发布

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分类专栏： Arduino 文章标签：嵌入式硬件

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// the number of the PWM pin
const int pwmA = 22;  //通道A的PWM引脚
const int motorPinA1 = 16;  //通道A的控制引脚
const int motorPinA2 = 17; 

const int pwmB = 23;  //通道B的PWM引脚
const int motorPinB1 = 18;  //通道B的控制引脚
const int motorPinB2 = 19; 

// setting PWM properties
const int freq = 5000; //PWM频率
int channelA = 0; //PWM通道0 
int channelB = 1; //PWM通道1
int resolution = 8;  //PWM的分辩率
int sensorValue1;
int sensorValue2;
 
void setup(){
  
  Serial.begin(9600); 
  pinMode(motorPinA1, OUTPUT);
  pinMode(motorPinA2, OUTPUT);
  pinMode(motorPinB1, OUTPUT);
  pinMode(motorPinB2, OUTPUT);

   // configure LED PWM functionalitites
  ledcSetup(channelA, freq, resolution);  //设置PWM控制器
  ledcSetup(channelB, freq, resolution);  //设置PWM控制器
  
  // attach the channel to the GPIO to be controlled
  ledcAttachPin(pwmA, channelA);  //将PWM控制器A绑定于22引脚//left
  ledcAttachPin(pwmB, channelB);  //将PWM控制器B绑定于23引脚//right
}
 
void loop(){
/*analogRead(pin)函数用于读取引脚的模拟量电压值，参数pin表示所要获取模拟量电压值的引脚，返回值为0~1023；*/
  sensorValue1 = analogRead(34);
  sensorValue2 = analogRead(35);
  // increase the LED brightness 
    ledcWrite(channelA, 200); //设定PWMA控制器的占空比
    ledcWrite(channelB, 200); //设定PWMB控制器的占空比
    Serial.printf("%d\t\t%d\n",sensorValue1,sensorValue2);

    if(sensorValue1<1500&&sensorValue2<1500)//前进
    {
      digitalWrite(motorPinA1, HIGH);  
      digitalWrite(motorPinA2, LOW);
      digitalWrite(motorPinB1, HIGH);  
      digitalWrite(motorPinB2, LOW);
    }
    else if(sensorValue1>1500&&sensorValue2>1500)//后退
    {
      digitalWrite(motorPinA1, LOW);   
      digitalWrite(motorPinA2, HIGH);
      digitalWrite(motorPinB1, LOW); 
      digitalWrite(motorPinB2, HIGH);
    }
    else if(sensorValue1<1500&&sensorValue2>1500)//右转
    {
      digitalWrite(motorPinA1, HIGH);  
      digitalWrite(motorPinA2, LOW);
      digitalWrite(motorPinB1, LOW);  
      digitalWrite(motorPinB2, HIGH);
    }
    else if(sensorValue1>1500&&sensorValue2<1500)//左转
    {
      digitalWrite(motorPinA1, LOW);  
      digitalWrite(motorPinA2, HIGH);
      digitalWrite(motorPinB1, HIGH);  
      digitalWrite(motorPinB2, LOW);
    }
}