Arduino智能避障小車(chē)避障程序首先建立一個(gè)名為modulecar. ino的主程序。/ modulecar. ino,玩轉(zhuǎn)智能 小車(chē)主程序include <Servo. h> /導(dǎo)入舵機(jī)庫(kù)include <NewPing. h> /導(dǎo)入 NwePing 庫(kù)/對(duì)照系統(tǒng)配線方案依次指定各I/OconstintENA=3;/左電機(jī) PWMconstintINI=4;左電機(jī)正constintIN2=5;左電機(jī)負(fù)constintENB=6;/右電機(jī) PWMconstintIN3=7;/右電機(jī)正constintIN4=8;/右電機(jī)負(fù)const int trigger = 9 ; /定義超聲波傳感器發(fā)射腳為D9 const int echo =10 ; /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(cè)距離。int no_good二35; /*設(shè)定35cm警戒距離。int read_ahead; /實(shí)際距離讀數(shù)。Servo sensorStation; /設(shè)定傳感器平臺(tái)。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(lái)極大便利sensorStation. attach(ll); 把 Dll 分配給舵機(jī)pinMode(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(jī)復(fù)位至 90?delay (6000); 上電等待6s后進(jìn)入主循環(huán)/主程序void loop()read_ahead = readDistance() ; /調(diào)用 readDistanceO 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(jī)器人前方距離if (read_ahead < no_good) /如果前方距離小于警戒值fastStop() ; /就令機(jī)器人緊急剎車(chē)waTchO ; 然后左右查看，分析得岀最佳路線goForwardO ; /*此處調(diào)用看似多余，但可以確保機(jī)器人高速運(yùn)轉(zhuǎn)下動(dòng)作的連 貫性else goForward（） : /否則就一直向前行駛主程序用到了兩個(gè)庫(kù)，Servo庫(kù)是IDE自帶的，NwePing庫(kù)是笫三方庫(kù),需要 下載安裝。接下來(lái)建立一個(gè)名為move, ino的標(biāo)簽。/move, ino,機(jī)動(dòng)模塊。剎車(chē)void fastStop （）Serial. println（STOP）； 串行監(jiān)視器顯示機(jī)器人狀態(tài)為STOP（停止）左電機(jī)急停（注:L298N和L293D均帶有剎車(chē)功能，在使能成立的條件下，同 時(shí)向兩相寫(xiě)入高電平可令電機(jī)急停，詳見(jiàn)芯片手冊(cè)）digitalWrite(ENA, HIGH);digitalWrite(INI, HIGH);digitalWrite(IN2, HIGH);右電機(jī)急停digitalWrite(ENB, HIGH):digitalWrite(IN3, HIGH);digitalWrite(IN4, HIGH): 前進(jìn)void goForward()Serial, print In （"FORWARD"）; 串行監(jiān)視器顯示機(jī)器人狀態(tài)為FORWARD （前進(jìn)）左電機(jī)逆時(shí)針旋轉(zhuǎn)analogWrite(ENA, 106) ; /左電機(jī)PWM,可微調(diào)這個(gè)數(shù)值使小車(chē)左右兩側(cè)車(chē)輪 轉(zhuǎn)速相等，右電機(jī)同理digitalWr辻e(INl, LOW):digitalWrite(IN2, HIGH);/右電機(jī)順時(shí)針旋轉(zhuǎn)analogWrite (E>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(jī)器人狀態(tài)為L(zhǎng)EFT (向左轉(zhuǎn))左電機(jī)正轉(zhuǎn)analogWrite(ENA, 106);digitalWrite(INI, HIGH);digitalWrite(IN2, LOW);右電機(jī)正轉(zhuǎn)analogWrite(ENB, 59); /*微調(diào)這個(gè)數(shù)值，使轉(zhuǎn)彎時(shí)內(nèi)側(cè)車(chē)輪起主導(dǎo)作用。相 當(dāng)于讓小車(chē)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(jī)器人動(dòng)作連貫原地右轉(zhuǎn)void turnRight()Serial, print In ("RIGHT"); 串行監(jiān)視器顯示機(jī)器人狀態(tài)為RIGHT (向右轉(zhuǎn))左電機(jī)反轉(zhuǎn)analogWrite(ENA, 53);digitalWrite(INI, LOW);digitalWrite(IN2, HIGH);右電機(jī)反轉(zhuǎn)analogWrite (E>JB, 118);digitalWr辻e(IN3, LOW):digitalWrite(IN4, HIGH);delay (205) : /*調(diào)節(jié)此值可使機(jī)器人動(dòng)作連貫原地掉頭(暫時(shí)用不到)void turnAround()Serial. printlnCTURN 180"); 串行監(jiān)視器顯示機(jī)器人狀態(tài)為T(mén)URN 180(原 地順時(shí)針旋轉(zhuǎn)180?)左電機(jī)反轉(zhuǎn)analogWrite(ENA, 106);digitalWr辻e(INl, LOW):digitalWrite(IN2, HIGH);右電機(jī)反轉(zhuǎn)analogWrite(ENB, 118);digitalWrite(IN3, LOW):digitalWrite(IN4, HIGH);delay (500); /*/ ping, ino,測(cè)距模塊int readDistance()delay(30); /聲波發(fā)送間隔30ms,大約每秒探測(cè)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(dòng)云臺(tái)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(cè)量右前方距離。/*注意舵機(jī)旋轉(zhuǎn)方向，SG5010為逆時(shí)針旋轉(zhuǎn)sensorStation. write (20) ; /*舵機(jī)右轉(zhuǎn)至20?。調(diào)節(jié)此值會(huì)影響傳感器掃描 區(qū)域，夾角越小，機(jī)器人轉(zhuǎn)彎越謹(jǐn)慎delay (1200) ; /延遲1. 2s待舵機(jī)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(jī)復(fù)位至90度。廉價(jià)舵機(jī)大角度旋轉(zhuǎn)會(huì) 產(chǎn)生抖動(dòng)，要加上這兩行以求讀數(shù)準(zhǔn)確。/delay (500); /延遲 0.5s/測(cè)量左前方距離sensorStation. write (160) ; /舵機(jī)左轉(zhuǎn)至 160?delay (1200); /延遲1.2s待舵機(jī)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(chē)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(jìn)路線。辻(read_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(shí)際上觸發(fā)的兒率不大。2C 液晶測(cè)試程序,Ar du i no 版本 1. 5. 6r2, LiquidCrystal_I2C 庫(kù)版本 2. 0 / Iinclude <Wire. h> 2#include /zLiquidCrystal_I2C. h" 導(dǎo)入 IC 液晶庫(kù)2LiquidCrystal_I2C led (0x27, 16, 2); 設(shè)定 IC 地址及液晶屏參數(shù) void setup ()led. init () ; /始化液晶屏led. backlight ();led. print ("Hello, world!"); /開(kāi)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(jìn)void goForward()Serial, print In ("FORWARD") ; /吊行監(jiān)視器顯示機(jī)器人狀態(tài)為FORWARD (前進(jìn)) /左電機(jī)逆時(shí)針旋轉(zhuǎn)int vail = analogRead(AO) : /手動(dòng)調(diào)整左電機(jī)轉(zhuǎn)速。電位器兩端分別接至+5V 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(xiě)入速度。下面的右電機(jī)同理 digitalWrite(INI, LOW);digitalWrite(IN2, HIGH):/右電機(jī)順時(shí)針旋轉(zhuǎn)int val2 = analogRead(Al);int rightSpeed = map (val2, 0, 1023, 0, 255);analogWrite(ENB, rightSpeed);digitalWr辻e(IN3, HIGH):digitalWrite(IN4, LOW); / ping, ino,紅外測(cè)距模塊/ trigger腳沿用D9, echo腳換成A3int readDistance()digitalWrite (trigger, HIGH) ; /點(diǎn)殼紅外發(fā)射管 delayMicroseconds (200) ; /給接收管留出200 P s響應(yīng)時(shí)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(yīng)時(shí)間IRvalue=IRvalue-analogRead(echo): 刨除自然光得出實(shí)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.£CtiOJ8Dij£a4Z.加皿叩呵珂定:鈕*次fTE削它割I(lǐng) FCin»4i |ircoutputPn-5; ”宜災(zāi)逹產(chǎn)友ft!弓友口 TN3按S匚vnld 3fttu 卩()<SQna.t»gtnt3Suo)priMuje(iFpjPi! i.lhPUT)pnMneioirpurFin, OUTFUT),IvDd V30PI)<V1 rd口姑* w：.ugt»LW乙b施罰!牡題找百麗說(shuō)平磺決I眇QMEU他： Ldgit3Wfte«：:<jtcuPr.H6r- /磁出如擔(dān)武復(fù)対號(hào)陌口確平m問(wèn) 逗里E也>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(hào)delayMicroseconds(10);digitalWrite(TrigPin, LOW);distance = pulseln(EchoPin, HIGH) *340/60/2; / 檢測(cè)脈沖寬度即為超聲波往返時(shí)間代碼2:簡(jiǎn)易超聲波測(cè)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(cè)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);Seria 1. println('"Ultrasonic sensor:");void loop() /產(chǎn)生一個(gè)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(cè)脈沖寬度，并計(jì)算出距離distance = pulseln(EchoPin, HIGH) /58.00;Seria1. print(distance);Serial, print ("cm");Seria 1. println ();delay(1000);代碼3:具有溫度補(bǔ)償?shù)某暡y(cè)距代碼nclude <0neWireh>itinclude <DallasTemperature. h> /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() 初始化串口通信及連接SRO4的引腳Serial, begin (9600);pinMode(TrigPin, OUTPUT):要檢測(cè)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(gè)10 p s的高脈沖去觸發(fā)TrigPinsensors requestTemperatures();temperature_value = sensorsgetTempCBylndex(O);Seria 1. print (''temperature = ”)；Seria1. print(temperaturevalue);Serial, print (，ZC ”)；digitalWrite(TrigPin, LOW);delayMicroseconds(2);digitalWrite(TrigPin, HIGH);delayMicroseconds(10);digitalWrite(TrigPin, LOW):檢測(cè)脈沖寬度，并計(jì)算出距離distance = pulseln(EchoPin, HIGH) *(3314+0. 6*temperature_value)/2;Seria1. print(distance = ”)；Seria1. print(distance);Serial, print ("cm");Seria 1. printlnO ;delay(1000);代碼4:基于GP2D12的紅外測(cè)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(wú).2E8«S» 口 i/藍(lán)牙遙控小車(chē)/Arduino源程序/定稿日期:2016-3-16程序功能簡(jiǎn)介：/程序采用軟件PWM方式，控制兩支直流電機(jī)的運(yùn)行行為，實(shí)現(xiàn)直行、后退、 左轉(zhuǎn)和右轉(zhuǎn)動(dòng)作。/操作者使用Android手機(jī)的藍(lán)牙功能發(fā)出指令，操控小車(chē)動(dòng)作。/操作者還通過(guò)藍(lán)牙對(duì)小車(chē)的動(dòng)作參數(shù)進(jìn)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 <avr/io. h>#include <avr/interrupth>include <EEPR0M. h>#include z/usart h"unsigned int counter; /PWM 計(jì)數(shù)器 unsigned char wCnt = 0; /接收字計(jì)數(shù) unsigned int pwm_LH; /左電機(jī)高電平計(jì)數(shù) unsigned int pwm_RH; /右電機(jī)高電平計(jì)數(shù) unsigned char IDirect; 左電機(jī)運(yùn)轉(zhuǎn)方向 unsigned char rDirect;/右電機(jī)運(yùn)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(biāo)志/定時(shí)器2初始化函void timer2_init()cli()；TCCR2B 二 0x00; /TCNT2 二 0xF6; /TCCR2A 二 0x00;TCCR2B = 0x02; /TIMSK2 = 0x01; /定時(shí)器2中斷允許sei ();定時(shí)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(PORTD, 5);if(counter = pwm_LH)bitClear(PORTD, 6);bitClear(PORTD, 7);/電機(jī)運(yùn)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(kāi)中斷獲取EEPROM數(shù)據(jù)函數(shù)/功能:從EEPROM里順序讀出六個(gè)PWM參數(shù)，存入PWM數(shù)組void GetDataOunsignedcharbytes2; /暫時(shí)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(gè)參數(shù)for (j二0;j < 2;j+) 內(nèi)循環(huán)，每次讀兩個(gè)字節(jié)k二i * 2 + 1 - j; /地址計(jì)算bytes j = EEPROM. read (k) : /EEPROM 讀操作= word (bytes0, bytesEl) ; /將讀出的兩個(gè)字節(jié)合成一個(gè)PWM整數(shù)數(shù)據(jù)/數(shù)據(jù)發(fā)送函數(shù)功能:將一個(gè)整數(shù)拆分成四個(gè)ASCII代碼，通過(guò)藍(lán)牙串口發(fā)出的函數(shù)。例如：整數(shù)784,將拆分成'，'7','8','4'四個(gè)字符void Number(int val)inttmp; /中間變量unsigned char i ; /循環(huán)計(jì)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(gè)位for(i = 0;i < 4;i+)辻(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(guò)藍(lán)牙串口連續(xù)發(fā)出四個(gè)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)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(jī)傳過(guò)來(lái)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 = inputString - 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(duì)應(yīng)的PWM數(shù)組單元，修 改當(dāng)前運(yùn)行參數(shù)buf 1 = lowByte(para) : /將整數(shù)轉(zhuǎn)換成兩個(gè)字節(jié)。bufEOZ = highByte(para);index = index * 2; 計(jì)算 EEPROM 地址EEPR0M. write (index, bufl); 寫(xiě)入 EEPROM 低位在前index+;EEPROM, write (index, buf 0) ; /高位在后 stringComplete = 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 (PWM) ; /Android通過(guò)藍(lán)牙回傳，手機(jī)上會(huì)有顯示wCnt = 0;break;case '#'： 得到手機(jī)發(fā)回的修改參數(shù)數(shù)據(jù)break;case ' wf : /接收到'wf ,前進(jìn)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(jī)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) ;