Arduino-尋跡小車

作者：Atopos

這是完整的代碼，下面有各部分的詳解

#define AIN1 7  //定義兩個電機  左
#define AIN2 8 
 
#define BIN1 3 //右
#define BIN2 4

#define l A1    //從車尾方向從左到右排序
#define z A2
#define r A3
#define STBY 10

int PWMA=5; //左PWM調速
int PWMB=6; //右

int LED0;   //定義三個用來存儲傳感器返回值
int LED1;
int LED2;


void setup() {
  
 // 電機驅動模塊引腳初始化
  pinMode(AIN1,OUTPUT);
  pinMode(AIN2,OUTPUT);
  pinMode(BIN1,OUTPUT);
  pinMode(BIN2,OUTPUT);

  //循跡模塊引腳初始化
  pinMode(A1,INPUT);
  pinMode(A2,INPUT);
  pinMode(A3,INPUT);
  pinMode(PWMA,OUTPUT);
  pinMode(PWMB,OUTPUT);
  pinMode(STBY,OUTPUT);
}

void loop() {

  xunji();
}

void xunji(){
  
  LED0=digitalRead(A1);//這里用之前定義的三個變量來讀取傳感器的返回值，用與接下來的判斷
  LED1=digitalRead(A2);
  LED2=digitalRead(A3);
  digitalWrite(STBY,HIGH);
  
  if(LED0==HIGH&&LED1==LOW&&LED2==HIGH) //正常情況小車正常直行
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,80);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,110);
      delay(30) ;
    }
     else if(LED0==HIGH&&LED1==HIGH&&LED2==HIGH) //三個傳感器都接受到信號小車正常行走
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,80);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,110);
      delay(30);
    }
  else if(LED0==LOW&&LED1==HIGH&&LED2==HIGH) //小車左轉
  {
    
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,100);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,100);
    delay(50);
    }
  else if(LED0==HIGH&&LED1==HIGH&&LED2==LOW) //小車右轉
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,115);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,90);
    delay(30);
    }
  else if(LED0==LOW&&LED1==LOW&&LED2==HIGH) //小車進內圈左轉
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,80);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(600);
    }
     else if(LED0==LOW&&LED1==LOW&&LED2==LOW) //遇到十字路口，小車3個感應器都感應到黑線,小車停止
  {
      digitalWrite(STBY,LOW);
      delay(1000);
    }



}

詳解

第一部分：線路

放上小車的線路連接圖

Image text

第二部分：代碼

UNO板子，電機以及傳感器接口的預處理

對每個接口都進行定義

#define AIN1 7  //定義兩個電機  左
#define AIN2 8 
 
#define BIN1 3 //右
#define BIN2 4

#define l A1    //從車尾方向從左到右排序
#define z A2
#define r A3
#define STBY 10

int PWMA=5; //左PWM調速
int PWMB=6; //右

int LED0;   //定義三個用來存儲傳感器返回值
int LED1;
int LED2;

宣告接口狀態,也就是初始化各個引腳的狀態

void setup() {
  
 // 電機驅動模塊引腳初始化
  pinMode(AIN1,OUTPUT);
  pinMode(AIN2,OUTPUT);
  pinMode(BIN1,OUTPUT);
  pinMode(BIN2,OUTPUT);

  //循跡模塊引腳初始化
  pinMode(A1,INPUT);
  pinMode(A2,INPUT);
  pinMode(A3,INPUT);
  pinMode(PWMA,OUTPUT);
  pinMode(PWMB,OUTPUT);
  pinMode(STBY,OUTPUT);
}

下面是主程序——loop程序

這里用一個函數代替，方便后續修改，至於后續要修改什么，文章最后會提到

void loop() {

  xunji();
}

最后就是我們的重點——尋跡模塊

這也是整個程序的核心

首先，先定義LED0，LED1，LED2，三個變量來接收三個傳感器返回過來的高低電頻

  LED0=digitalRead(A1);//這里用之前定義的三個變量來讀取傳感器的返回值，用與接下來的判斷
  LED1=digitalRead(A2);
  LED2=digitalRead(A3);
  digitalWrite(STBY,HIGH);

這里用if -else語句，根據傳感器返回的值來判斷小車的狀態，從而做出相應的操作

void xunji(){
  

  if(LED0==HIGH&&LED1==LOW&&LED2==HIGH) //正常情況小車正常直行
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,80);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,110);
      delay(30) ;
    }
     else if(LED0==HIGH&&LED1==HIGH&&LED2==HIGH) //三個傳感器都接受到信號小車正常行走
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,80);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,110);
      delay(30);
    }
  else if(LED0==LOW&&LED1==HIGH&&LED2==HIGH) //小車左轉
  {
    
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,100);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,100);
    delay(50);
    }
  else if(LED0==HIGH&&LED1==HIGH&&LED2==LOW) //小車右轉
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,115);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,90);
    delay(30);
    }
  else if(LED0==LOW&&LED1==LOW&&LED2==HIGH) //小車進內圈左轉
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,80);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(600);
    }
     else if(LED0==LOW&&LED1==LOW&&LED2==LOW) //遇到十字路口，小車3個感應器都感應到黑線,小車停止
  {
      digitalWrite(STBY,LOW);
      delay(1000);
    }
}

存在問題

上述程序用的是數字傳感器，如果是灰度傳感器，不可以用上述程序
還有，程序采用了正反轉，這個根據實際情況而定，如果不要求時間，可以讓他慢一點
因為測試用的小車電機比較廉價，所以左右電機會有一定的物理誤差，也就是給它一樣的PWM值
兩個電機的轉速是不一樣的，這個對小車的尋跡也有一定的影響,所以要經過反復實驗，調整合適的PWM值
還有傳感器的位置，這個也根據賽道的情況自己調整

更新：四個傳感器代碼

哥哥接口跟引腳和上述三個傳感器的一樣，第四個傳感器接在A4引腳。從左往右依次為1，2，3，4傳感器，pwm速度需要自己調試

#define AIN1 7  //定義兩個電機  左
#define AIN2 8 
 
#define BIN1 3 //右
#define BIN2 4

#define l A1    //從車尾方向從左到右排序
#define z A2
#define r A3
#define f A4
#define STBY 10

int PWMA=5; //左PWM調速
int PWMB=6; //右

int LED0;   //定義三個用來存儲傳感器返回值
int LED1;
int LED2;
int LED3;


void setup() {
  
 // 電機驅動模塊引腳初始化
  pinMode(AIN1,OUTPUT);
  pinMode(AIN2,OUTPUT);
  pinMode(BIN1,OUTPUT);
  pinMode(BIN2,OUTPUT);

  //循跡模塊引腳初始化
  pinMode(A1,INPUT);
  pinMode(A2,INPUT);
  pinMode(A3,INPUT);
  pinMode(A4,INPUT);
  pinMode(PWMA,OUTPUT);
  pinMode(PWMB,OUTPUT);
  pinMode(STBY,OUTPUT);
}

void loop() {

  xunji();
}

void xunji(){
  
  LED0=digitalRead(A1);//這里用之前定義的四個個變量來讀取傳感器的返回值，用與接下來的判斷
  LED1=digitalRead(A2);
  LED2=digitalRead(A3);
  LED3=digitalRead(A4);
  digitalWrite(STBY,HIGH);
  
  if(LED0==HIGH&&LED1==0&&LED2==0&&LED3==HIGH) //正常情況小車正常直行
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,90);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,95);
      delay(30) ;
    }
     else if(LED0==HIGH&&LED1==HIGH&&LED2==HIGH&&LED3==HIGH) //四個個傳感器都接受到信號小車正常行走
  {
      digitalWrite(AIN1,HIGH);
      digitalWrite(AIN2,LOW);
      analogWrite(PWMA,90);

      digitalWrite(BIN1,HIGH);
      digitalWrite(BIN2,LOW);
      analogWrite(PWMB,95);
      delay(30);
    }
  else if(LED0==HIGH&&LED1==LOW&&LED2==HIGH&&LED3==HIGH) //小車左小調整
  {
    
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,100);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,100);
    delay(80);
    }
      else if(LED0==LOW&&LED1==HIGH&&LED2==HIGH&&LED3==HIGH) //小車左大調整
  {
    
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,100);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,100);
    delay(30);
    }
  else if(LED0==HIGH&&LED1==HIGH&&LED2==LOW&&LED3==HIGH) //小車右小調整
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,130);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,100);
    delay(80);
    }
    else if(LED0==HIGH&&LED1==HIGH&&LED2==HIGH&&LED3==LOW) //小車右大調整
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,130);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,100);
    delay(50);
    }
   else if(LED0==HIGH&&LED1==LOW&&LED2==LOW&&LED3==LOW) //小車右直角
  {
    digitalWrite(AIN1,HIGH);
    digitalWrite(AIN2,LOW);
    analogWrite(PWMA,125);

    digitalWrite(BIN1,LOW);
    digitalWrite(BIN2,HIGH);
    analogWrite(PWMB,90);
    delay(30);
    }
  else if(LED0==LOW&&LED1==LOW&&LED2==LOW&&LED3==HIGH) //小車進內圈左轉
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,90);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(30);
    }
     else if(LED0==LOW&&LED1==HIGH&&LED2==HIGH&&LED3==LOW) //小車進內圈左轉
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,90);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(30);
    }
        else if(LED0==LOW&&LED1==HIGH&&LED2==LOW&&LED3==LOW) //小車進內圈左轉
  {
    digitalWrite(AIN1,LOW);
    digitalWrite(AIN2,HIGH);
    analogWrite(PWMA,90);

    digitalWrite(BIN1,HIGH);
    digitalWrite(BIN2,LOW);
    analogWrite(PWMB,120);
    delay(30);
    }
     else if(LED0==LOW&&LED1==LOW&&LED2==LOW&&LED3==LOW) //遇到十字路口，小車3個感應器都感應到黑線,小車停止
  {
      digitalWrite(STBY,LOW);
      delay(1000);
    }
}

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