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1、Arduino智能避障小車避障程序首先建立一個名為modulecar. ino的主程序。/ modulecar. ino,玩轉(zhuǎn)智能 小車主程序include /導入舵機庫include /導入 NwePing 庫/對照系統(tǒng)配線方案依次指定各I/OconstintENA=3;/左電機 PWMconstintINI=4;左電機正constintIN2=5;左電機負constintENB=6;/右電機 PWMconstintIN3=7;/右電機正constintIN4=8;/右電機負const int trigger = 9 ; /定義超聲波傳感器發(fā)射腳為D9 const int echo =10

2、; /定義傳感器接收腳為DIO const int max_read = 300; /設(shè)定傳感器最 大探測距離。int no_good二35; /*設(shè)定35cm警戒距離。int read_ahead; /實際距離讀數(shù)。Servo sensorStation; /設(shè)定傳感器平臺。NewPing sensor (trigger, echo, max_read) ; /設(shè)定傳感器引腳和最大讀數(shù)系統(tǒng)初始化void setup ()Serial, begin(9600) ; /啟用串行監(jiān)視器可以給調(diào)試帶來極大便利sensorStation. attach(ll); 把 Dll 分配給舵機pinMode(

3、ENA,OUTPUT) ; /依次設(shè)定各I/O屬性pinMode(INI,OUTPUT);pinMode (IN2,OUTPUT);pinMode(ENB,OUTPUT);pinMode (IN3,OUTPUT);pinMode (IN4,OUTPUT);pinMode(trigger, OUTPUT);pinMode(echo, INPUT);sensorStation. write (90) ; /舵機復位至 90?delay (6000); 上電等待6s后進入主循環(huán)/主程序void loop()read_ahead = readDistance() ; /調(diào)用 readDistanceO

4、 函數(shù)讀出前方距離Serial, printin(，?AHEAD：z，);Serial. println(read_ahead) ; /串行監(jiān)視器顯示機器人前方距離if (read_ahead JB, 118);digitalWrite(IN3, HIGH):digitalWrite(IN4, LOW);原地左轉(zhuǎn)void turnLeft ()Serial, printin (LEFT) ; /串行監(jiān)視器顯示機器人狀態(tài)為LEFT (向左轉(zhuǎn))左電機正轉(zhuǎn)analogWrite(ENA, 106);digitalWrite(INI, HIGH);digitalWrite(IN2, LOW);右電機正

5、轉(zhuǎn)analogWrite(ENB, 59); /*微調(diào)這個數(shù)值，使轉(zhuǎn)彎時內(nèi)側(cè)車輪起主導作用。相 當于讓小車向后打一把輪再拐彎。右轉(zhuǎn)同理digitalWrite(IN3, HIGH);digitalWr辻e(IN4, LOW):delay (205) : /*延遲，數(shù)值以毫秒為單位，調(diào)節(jié)此值可使機器人動作連貫原地右轉(zhuǎn)void turnRight()Serial, print In (RIGHT); 串行監(jiān)視器顯示機器人狀態(tài)為RIGHT (向右轉(zhuǎn))左電機反轉(zhuǎn)analogWrite(ENA, 53);digitalWrite(INI, LOW);digitalWrite(IN2, HIGH);右電機

6、反轉(zhuǎn)analogWrite (EJB, 118);digitalWr辻e(IN3, LOW):digitalWrite(IN4, HIGH);delay (205) : /*調(diào)節(jié)此值可使機器人動作連貫原地掉頭(暫時用不到)void turnAround()Serial. printlnCTURN 180); 串行監(jiān)視器顯示機器人狀態(tài)為TURN 180(原 地順時針旋轉(zhuǎn)180?)左電機反轉(zhuǎn)analogWrite(ENA, 106);digitalWr辻e(INl, LOW):digitalWrite(IN2, HIGH);右電機反轉(zhuǎn)analogWrite(ENB, 118);digitalWri

7、te(IN3, LOW):digitalWrite(IN4, HIGH);delay (500); /*/ ping, ino,測距模塊int readDistance()delay(30); /聲波發(fā)送間隔30ms,大約每秒探測33次。受系統(tǒng)所限,此值不 可小于29msint cm = sensor, ping () / US_ROUNDTRIP_CM; /把 Ping：值(口 s)轉(zhuǎn)換為 cmreturn (cm) ; /readDistance ()返回的數(shù)值是 cm最后是驅(qū)動云臺掃描并分析左右兩側(cè)距離的watch, ino模塊。/watch, ino,查看模塊void waTch()測

8、量右前方距離。/*注意舵機旋轉(zhuǎn)方向，SG5010為逆時針旋轉(zhuǎn)sensorStation. write (20) ; /*舵機右轉(zhuǎn)至20?。調(diào)節(jié)此值會影響傳感器掃描 區(qū)域，夾角越小，機器人轉(zhuǎn)彎越謹慎delay (1200) ; /延遲1. 2s待舵機穩(wěn)定int read_right = readDistance () : /調(diào)用 readDistance ()函數(shù)讀出右前方 距離Serial, print(RIGHT:”)；Serial, printIn(read_right);/sensorStation. write (90) ; /*舵機復位至90度。廉價舵機大角度旋轉(zhuǎn)會 產(chǎn)生抖動，要加上

9、這兩行以求讀數(shù)準確。/delay (500); /延遲 0.5s/測量左前方距離sensorStation. write (160) ; /舵機左轉(zhuǎn)至 160?delay (1200); /延遲1.2s待舵機穩(wěn)定。int read_left = readDistance() ; /調(diào)用函數(shù)讀出距離左前方距離。Serial, print(LEFT:”);Serial, printin(read_left);sensorStation. write (90) ; /這一行確保只要小車處于行駛狀態(tài)，傳感器就 面向正前方delay (500) ; /延遲 0.5s。/分析得出最佳行進路線。辻(read

10、_right read_left) /如果右前方距離比較大turnRight () : /就向右轉(zhuǎn),else turnLeft () : /否則就向左轉(zhuǎn)此處也可以加入另一層邏輯：如果左右兩側(cè)讀數(shù)相等就調(diào)用turnAround()原 地掉頭。但實際上觸發(fā)的兒率不大。2C 液晶測試程序,Ar du i no 版本 1. 5. 6r2, LiquidCrystal_I2C 庫版本 2. 0 / Iinclude 2#include /zLiquidCrystal_I2C. h 導入 IC 液晶庫2LiquidCrystal_I2C led (0x27, 16, 2); 設(shè)定 IC 地址及液晶屏參數(shù)

11、void setup ()led. init () ; /始化液晶屏led. backlight ();led. print (Hello, world!); /開始打印信息led. setCursor (3, 1) ; /設(shè)定顯示位置，第3列，第1行l(wèi)ed. print (ZANG. HAIBO) ; void loop ()前進void goForward()Serial, print In (FORWARD) ; /吊行監(jiān)視器顯示機器人狀態(tài)為FORWARD (前進) /左電機逆時針旋轉(zhuǎn)int vail = analogRead(AO) : /手動調(diào)整左電機轉(zhuǎn)速。電位器兩端分別接至+5V

12、和 GND,中心抽頭接至A0int leftSpeed = map (vall,0, 1023, 0, 255); /把讀數(shù)映射為 PWManalogWrite(ENA, leftSpeed): 寫入速度。下面的右電機同理 digitalWrite(INI, LOW);digitalWrite(IN2, HIGH):/右電機順時針旋轉(zhuǎn)int val2 = analogRead(Al);int rightSpeed = map (val2, 0, 1023, 0, 255);analogWrite(ENB, rightSpeed);digitalWr辻e(IN3, HIGH):digitalWr

13、ite(IN4, LOW); / ping, ino,紅外測距模塊/ trigger腳沿用D9, echo腳換成A3int readDistance()digitalWrite (trigger, HIGH) ; /點殼紅外發(fā)射管 delayMicroseconds (200) ; /給接收管留出200 P s響應時間IRvalue=analogRead(echo) ; /讀取自然光和紅外線下反射值的總和 digitalWrite (trigger, LOW) ; /關(guān)閉紅外發(fā)射管以讀取自然光下的反射值 delayMicroseconds (200) ; /留出 200 P s 響應時間IRv

14、alue=IRvalue-analogRead(echo): 刨除自然光得出實際值(紅外發(fā)射管產(chǎn)生的部分）return map(IRvalue, 120, 930, 30, 0) ; /用 map()函數(shù)把讀數(shù)轉(zhuǎn)換為距離IRGRgitaloD.CtiOJ8Dija4Z.加皿叩呵珂定:鈕*次fTE削它割I(lǐng) FCin4i |ircoutputPn-5; ”宜災逹產(chǎn)友ft!弓友口 TN3按S匚vnld 3fttu 卩()SQna.tgtnt3Suo)priMuje(iFpjPi! i.lhPUT)pnMneioirpurFin, OUTFUT),IvDd V30PI)V1 rd口姑* w：.ugtL

15、W乙b施罰!牡題找百麗說平磺決I眇QMEU他： Ldgit3Wfte：:10廬俄1從的沈5=符；511紅11)uyilMv心何mi*丄偽*發(fā)辭由生怎二檢口廚h坤irr 6Mam& r-削|綸腳g-3|g high) if 劉鸚沖制何Ig：arc- hwc去訊；:耳膨呦iFRWWbS；(卩氐 也和r alpnrriniacurccj；的T出距奧 3代碼l:HC-SR04超聲波傳感器典型代碼digitalWr辻e(TrigPin, LOW):delayMicroseconds(2);digitalWrite (TrigPin, HIGH); 發(fā)送 10 P s 的高電平觸發(fā)信號delayMicro

16、seconds(10);digitalWrite(TrigPin, LOW);distance = pulseln(EchoPin, HIGH) *340/60/2; / 檢測脈沖寬度即為超聲波往返時間代碼2:簡易超聲波測距代碼const int TrigPin = 2;const int EchoPin = 3; /設(shè)定 SR04 連接的 Arduino 引腳float distance;void setup () /初始化串口通信及連接SR04的引腳Serial, begin (9600);pinMode(TrigPin, OUTPUT);/要檢測引腳上輸入的脈沖寬度，需要先設(shè)置為輸入狀態(tài)

17、pinMode(EchoPin, INPUT);Seria 1. println(Ultrasonic sensor:);void loop() /產(chǎn)生一個10 P s的高脈沖去觸發(fā)TrigPindigitalWrite(TrigPin, LOW);delayMicroseconds(2);digitalWrite(TrigPin, HIGH);delayMicroseconds(10);digitalWrite(TrigPin, LOW):/檢測脈沖寬度，并計算出距離distance = pulseln(EchoPin, HIGH) /58.00;Seria1. print(distance

18、);Serial, print (cm);Seria 1. println ();delay(1000);代碼3:具有溫度補償?shù)某暡y距代碼nclude itinclude /設(shè)定 SR04 連接的 Arduino 引腳const int TrigPin = 2;const int EchoPin = 3;float distance;float temperature_value: #define ONE_WIRE_BUS 4OneWire oneWire(ONE_WIRE_BUS); DallasTemperature sensors(&oneWire);void setup() 初始化

19、串口通信及連接SRO4的引腳Serial, begin (9600);pinMode(TrigPin, OUTPUT):要檢測引腳上輸入的脈沖寬度，需要先設(shè)置為輸入狀態(tài)pinMode(EchoPin, INPUT):sensors begin ();void loop() /產(chǎn)生一個10 p s的高脈沖去觸發(fā)TrigPinsensors requestTemperatures();temperature_value = sensorsgetTempCBylndex(O);Seria 1. print (temperature = ”)；Seria1. print(temperaturevalu

20、e);Serial, print (，ZC ”)；digitalWrite(TrigPin, LOW);delayMicroseconds(2);digitalWrite(TrigPin, HIGH);delayMicroseconds(10);digitalWrite(TrigPin, LOW):檢測脈沖寬度，并計算出距離distance = pulseln(EchoPin, HIGH) *(3314+0. 6*temperature_value)/2;Seria1. print(distance = ”)；Seria1. print(distance);Serial, print (cm)

21、;Seria 1. printlnO ;delay(1000);代碼4:基于GP2D12的紅外測距系統(tǒng)代碼int i;float val;void setup () Serial, begin (9600);void loop() i=analogRead(A0);val二2547. 8/(float) i*0. 49-10.41)-0. 42;Seria 1. println(val, 2);ui”無.2E8S 口 i/藍牙遙控小車/Arduino源程序/定稿日期:2016-3-16程序功能簡介：/程序采用軟件PWM方式，控制兩支直流電機的運行行為，實現(xiàn)直行、后退、 左轉(zhuǎn)和右轉(zhuǎn)動作。/操作者

22、使用Android手機的藍牙功能發(fā)出指令，操控小車動作。/操作者還通過藍牙對小車的動作參數(shù)進行調(diào)試。/使用自定義串口收發(fā)數(shù)/使用軟件PW,輸出引腳可任意制定/使用Atmega48芯片/Arduio 版本 1. 0. 5#include #include include #include z/usart hunsigned int counter; /PWM 計數(shù)器 unsigned char wCnt = 0; /接收字計數(shù) unsigned int pwm_LH; /左電機高電平計數(shù) unsigned int pwm_RH; /右電機高電平計數(shù) unsigned char IDirect;

23、左電機運轉(zhuǎn)方向 unsigned char rDirect;/右電機運轉(zhuǎn)方向unsigned int LP = 0;unsignedintRP = 0;unsignedintLD 二 0;unsignedintRD = 0;unsignedintPWM6; 存放肖前PWM參數(shù)的整數(shù)型數(shù)組，全局變量unsignedchar inputString8; /存輸入數(shù)據(jù)字符串變量boolean stringComplete = false; /數(shù)據(jù)串結(jié)束標志/定時器2初始化函void timer2_init()cli()；TCCR2B 二 0x00; /TCNT2 二 0xF6; /TCCR2A 二

24、0x00;TCCR2B = 0x02; /TIMSK2 = 0x01; /定時器2中斷允許sei ();定時器2中斷服務(wù)函數(shù)/PWM波形產(chǎn)生器ISR(TIMER2_0VF_vect)TCNT2 二 0xF6; /counter+;if(counter = 0x3ff)if (rDirect = 1)bitSet(PORTD,5);elsebitSet(PORTD,4);if (IDirect = 1)bitSet(PORTD,7);elsebitSet(PORTD,6);counter = 0;if(counter = pwm_RH)bitClear(PORTD, 4);bitClear(PO

25、RTD, 5);if(counter = pwm_LH)bitClear(PORTD, 6);bitClear(PORTD, 7);/電機運行函數(shù)void Move(unsigned int LS, unsigned charLD, unsigned int RS, unsignedchar RD)asm(，zBCLR 7) ; /關(guān)中斷 pwm_LH 二 LS;pwm_RH = RS;IDirect = LD;rDirect = RD;asm(BSET 7); /開中斷獲取EEPROM數(shù)據(jù)函數(shù)/功能:從EEPROM里順序讀出六個PWM參數(shù)，存入PWM數(shù)組void GetDataOunsign

26、edcharbytes2; /暫時存放PWM參數(shù)的字節(jié)數(shù)組，全局變量unsignedchar1;unsignedcharj；unsignedchark;for(i = 0;i 6; i+) /for循環(huán),讀六個參數(shù)for (j二0;j 2;j+) 內(nèi)循環(huán)，每次讀兩個字節(jié)k二i * 2 + 1 - j; /地址計算bytes j = EEPROM. read (k) : /EEPROM 讀操作= word (bytes0, bytesEl) ; /將讀出的兩個字節(jié)合成一個PWM整數(shù)數(shù)據(jù)/數(shù)據(jù)發(fā)送函數(shù)功能:將一個整數(shù)拆分成四個ASCII代碼，通過藍牙串口發(fā)出的函數(shù)。例如：整數(shù)784,將拆分成，7,

27、8,4四個字符void Number(int val)inttmp; /中間變量unsigned char i ; /循環(huán)計數(shù)變量 unsigned char buf 4 ; /存字符數(shù)組tmp= val / 1000;buf 0 = tmp + 0x30; /獲得千位val= val % 1000;tmp二 val / 100;buf1 = tmp + 0x30; /獲得百位val= val % 100;tmp二 val / 10;buf 2 = tmp + 0x30; /獲得十位val= val % 10;buf3 = val + 0x30; /獲得個位for(i = 0;i 4;i+)辻

28、(buf = 0x30) /從高位整理，如果是0,則轉(zhuǎn)換成空格。buf = 0x20;elsebreak;Usart_Transmit (buf 10) ; /通過藍牙串口連續(xù)發(fā)出四個字符。Usart_Transmi t(buf1);Usart_Transmit(buf2);Usart_Transmit(buf3);void setup () timer2_init ();Usart_Init(9600);sei();PORTD = 0x00;DDRD = OxFO;GetData () ; /初始化PWM參數(shù)void loop () unsigned char buf 6; /存連續(xù)字符的數(shù)

29、組 unsigned char index = 0: / 存索引值變量unsigned char i;unsigned char k;unsigned int para; 存 PWM 數(shù)據(jù)變量 delay (500);if (stringComplete = true) /分解手機傳過來的參數(shù) /格式是:#n%ddddk= 0; /其中:n為索引(地址);dddd為數(shù)據(jù)index = 0;for (i = 0;i = wCnt ;i+)if (inputString = %)index = inputStringil - 0x30; /獲得索引k = 0;elsebufk = inputStr

30、ing - 0x30： 獲得數(shù)據(jù)k+;para = 0;for (i = 0;i k-1;i+)para = para * 10 + buf;PWMindex = para; /將得到的整數(shù)參數(shù)立即存入對應的PWM數(shù)組單元，修 改當前運行參數(shù)buf 1 = lowByte(para) : /將整數(shù)轉(zhuǎn)換成兩個字節(jié)。bufEOZ = highByte(para);index = index * 2; 計算 EEPROM 地址EEPR0M. write (index, bufl); 寫入 EEPROM 低位在前index+;EEPROM, write (index, buf 0) ; /高位在后 s

31、tringComplete = false;wCnt = 0;ISR(USART_RX_vect)unsigned char commandO;inti;command = UDRO; /接收數(shù)據(jù)inputStringwCnt = command; wCnt+;if(command = 13) stringComplete = true;wCnt；else if (command = 10)stringComplete = false;wCnt = 0;switch (command) case :GetDataO ; /從EEPROM中讀出數(shù)據(jù)for (i = 0;i 6;i+)Number

32、 (PWM) ; /Android通過藍牙回傳，手機上會有顯示wCnt = 0;break;case #： 得到手機發(fā)回的修改參數(shù)數(shù)據(jù)break;case wf : /接收到wf ,前進LP = PWM0;RP = PWM1;LD = 1;RD = 1;wCnt 二 0;break;case x ： /接收到x,后退LP = PWM0;RP = PWM1;LD = 0;RD = 0;wCnt = 0;break;case a ： /接收到a,左轉(zhuǎn)LP = PWM2;RP 二 PWM3;LD = 0;RD = 1;wCnt = 0;break;case d ： /接收到d，,右轉(zhuǎn)LP = PWM4;RP = PWM5;LD = 1;RD = 0;wCnt = 0;break;case s ： /接收到s,停止電機LP = 0;RP = 0;LD = 1;RD = 1;wCnt = 0;break;default：LP = 0;RP = 0;LD = 1;RD = 1;Move (LP, LD, RP, RD) ;