arduino应用开发：第十三章代码及练习答案

代码编号：ultrasonic_test

[code]
//HC-SR04 pins define
#define TRIG 11
#define ECHO 12

unsigned long pulse_length ; //记录超声波脉冲宽度的变量，单位是微秒
float distance;     //存储超声波测距结果的变量，单位是厘米
float warning_dis = 5;    //预设的警告阈值，当测得距离小于该值时向电脑发出警报，单位是厘米

void setup() {
  // put your setup code here, to run once:
  pinMode(TRIG, OUTPUT);  //定义超声波传感器的触发信号管脚为输出
  pinMode(ECHO, INPUT);   //定义超声波传感器的返回信号管脚为输入
  Serial.begin(9600);     //定义串口波特率为9600，用于在电脑屏幕上显示实时数据

}

void loop() {
  // put your main code here, to run repeatedly:
  //向TRIG发出宽度为1毫秒的高电平脉冲
  digitalWrite(TRIG, LOW);
  delay(1);
  digitalWrite(TRIG, HIGH);
  delay(1);
  digitalWrite(TRIG, LOW);
  //delay(2);

  pulse_length = pulseIn(ECHO, HIGH);//从ECHO管脚读取高电平脉冲的长度，如果没有，返回值为0
  distance = 0.017*pulse_length; //根据得到的脉冲长度计算出障碍物的距离

  if(distance > 0 ){
      Serial.print("障碍物距离：");     //输出敌人距离
      Serial.println(distance);

   }

  

  delay(1000);

}
[/code]

=========================================================================

代码编号：car_test

[code]
//小车两侧电机驱动管脚定义
//IN1,IN2右侧
//IN3,IN4左侧
#define IN1 10
#define IN2 9
#define IN3 6
#define IN4 5

void setup() {
  // put your setup code here, to run once:

}

void loop() {
  // put your main code here, to run repeatedly:
  //前进
  forward();
  delay(1000);
  //停止
  turnoff();
  delay(500);
  
  //后退
  backward();
  delay(1000);
  //停止turnoff();
  delay(500);
  

  //左转
  turnleft();
  delay(1000);
  //停止
  turnoff();
  delay(500);  

  //右转
  turnright();
  delay(1000);
  //停止
  turnoff();
  delay(500);  

}  // end loop
//------------------------------------------------------------
void forward(){   //前进
  analogWrite(IN1, 150);
  analogWrite(IN2, 0);
  analogWrite(IN3, 150);
  analogWrite(IN4, 0);
}

void backward(){ //后退
  analogWrite(IN1, 0);
  analogWrite(IN2, 255);
  analogWrite(IN3, 0);
  analogWrite(IN4, 255);
}

void turnleft(){  //左转
  analogWrite(IN1, 255);
  analogWrite(IN2, 0);
  analogWrite(IN3, 0);
  analogWrite(IN4, 255);
}

void turnright(){  //右转
  analogWrite(IN1, 0);
  analogWrite(IN2, 255);
  analogWrite(IN3, 255);
  analogWrite(IN4, 0);
}

void turnoff(){  //停止
  analogWrite(IN1, 0);
  analogWrite(IN2, 0);
  analogWrite(IN3, 0);
  analogWrite(IN4, 0);
}

[/code]

========================================================================

代码编号：obstacle_detect_ultrasonic_car

[code]
//HC-SR04 pins define
#define TRIG 11
#define ECHO 12

#define IN1 10
#define IN2 9
#define IN3 6
#define IN4 5

unsigned long pulse_length ; //记录超声波脉冲宽度的变量，单位是微秒
float distance;     //存储超声波测距结果的变量，单位是厘米
float warning_dis = 10;    //预设的警告阈值，当测得距离小于该值时向电脑发出警报，单位是厘米
int runtime;    //用来存储小车变向动作的时间长短，单位微秒
int action;    //决定小车变向动作，1=左转，2=右转，3=后退

void setup() {
  // put your setup code here, to run once:
  pinMode(TRIG, OUTPUT);  //定义超声波传感器的触发信号管脚为输出
  pinMode(ECHO, INPUT);   //定义超声波传感器的返回信号管脚为输入
  Serial.begin(9600);     //定义串口波特率为9600，用于在电脑屏幕上显示实时数据

}

void loop() {
  // put your main code here, to run repeatedly:
  //向TRIG发出宽度为1毫秒的高电平脉冲
  digitalWrite(TRIG, LOW);
  delay(1);
  digitalWrite(TRIG, HIGH);
  delay(1);
  digitalWrite(TRIG, LOW);
  //delay(2);

  pulse_length = pulseIn(ECHO, HIGH);//从ECHO管脚读取高电平脉冲的长度，如果没有，返回值为0
  distance = 0.017*pulse_length; //根据得到的脉冲长度计算出障碍物的距离

  bool obstacle = ( (distance > 0)&&(distance < warning_dis) );
  if( obstacle == HIGH ){ //前方有障碍物
      digitalWrite(13, HIGH);
      turnoff();  //停下
      //delay(5000);
      action = random(1,4); //产生一个1到3范围内的随机数
      switch (action){
          case 1: turnleft();
          break;
          case 2: turnright();
          break;
          case 3: backward();
          break;
          default: backward();
          break;
      } // end case           
      runtime = random(1,6) * 500;
      delay(runtime);
  
  } 
  else {
      forward();  //end if  
      digitalWrite(13, LOW);
  }
 
}// end loop
//------------------------------------------------------------
void forward(){   //前进
  analogWrite(IN1, 150);
  analogWrite(IN2, 0);
  analogWrite(IN3, 150);
  analogWrite(IN4, 0);
}

void backward(){ //后退
  analogWrite(IN1, 0);
  analogWrite(IN2, 150);
  analogWrite(IN3, 0);
  analogWrite(IN4, 150);
}

void turnleft(){  //左转
  analogWrite(IN1, 150);
  analogWrite(IN2, 0);
  analogWrite(IN3, 0);
  analogWrite(IN4, 150);
}

void turnright(){  //右转
  analogWrite(IN1, 0);
  analogWrite(IN2, 150);
  analogWrite(IN3, 150);
  analogWrite(IN4, 0);
}

void turnoff(){  //停止
  analogWrite(IN1, 0);
  analogWrite(IN2, 0);
  analogWrite(IN3, 0);
  analogWrite(IN4, 0);
}
[/code]

===============================================================

代码编号：washing_machine

#define LFT 9    //电机左边电极
#define RGHT 10  //电机右边电极

int cnt;         //控制电机加减速计数器 

void setup() {
  // put your setup code here, to run once:
  cnt = 0;
}

void loop() {
  // put your main code here, to run repeatedly:
  //控制电机正转过程
  for(cnt = 0; cnt <= 250; cnt=cnt +10){ //加速过程
      analogWrite(LFT,  cnt);
      analogWrite(RGHT, 0);
      delay(200);
  }
  delay(4000);  //匀速过程
  for(cnt = 250; cnt >= 0; cnt=cnt -10){ //减速过程
      analogWrite(LFT,  cnt);
      analogWrite(RGHT, 0);
      delay(200);
  }
  delay(1000);  //停止过程
  //-----------------------------------
  //控制电机反转过程
  for(cnt = 0; cnt <= 250; cnt=cnt +10){ //加速过程
      analogWrite(LFT,  0);
      analogWrite(RGHT, cnt);
      delay(200);
  }
  delay(4000);  //匀速过程
  for(cnt = 250; cnt >= 0; cnt=cnt -10){ //减速过程
      analogWrite(LFT,  0);
      analogWrite(RGHT, cnt);
      delay(200);
  }
  delay(1000);  //停止过程
}

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