自动避障小车

来源：互联网发布：qq模仿哪个软件编辑：程序博客网时间：2024/04/30 19:35
这里写图片描述
#include <Servo.h>//include Servo libraryServo panMotor;int left1=4;int left2=5;int right1=6;int right2=7;const int TrigPin = 2;const int EchoPin = 3; float cm;float cm_1;float cm_2;int ledLeftpin=9;int ledRightpin=10;//int photocellPin = 1;    //定义变量photocellsh=2，为电压读取端口。int ledPin = 12;   //定义变量ledPin=12，为led电平输出端口int val = 0;       //定义val变量的起始值//int servopin = 8;    //定义舵机接口数字接口7void servopulse(int angle)//定义一个脉冲函数{  int pulsewidth=(angle*11)+500;  //将角度转化为500-2480的脉宽值  digitalWrite(servopin,HIGH);    //将舵机接口电平至高  delayMicroseconds(pulsewidth);  //延时脉宽值的微秒数  digitalWrite(servopin,LOW);     //将舵机接口电平至低  delayMicroseconds(20000-pulsewidth);}void setup(){ Serial.begin(9600);  pinMode(ledPin, OUTPUT);  //使ledPin为输出模式pinMode(TrigPin, OUTPUT);pinMode(EchoPin, INPUT); pinMode(ledLeftpin,OUTPUT);pinMode(ledRightpin,OUTPUT);panMotor.attach(8); //将电机安装在适当管脚上panMotor.write(90); //将PING)))焊盘设为中央for (int pinindex = 4; pinindex <=7; pinindex++) {    pinMode(pinindex, OUTPUT); // set pins 3 to 10 as outputs}}void loop(){cm=ping();Serial.print(cm);Serial.print("cm");Serial.println();val = analogRead(photocellPin);    //从传感器读取值  if(val<=512){      //512=2.5V，想让传感器敏感一些的时候，把数值调高，想让传感器迟钝的时候把数值调低。    digitalWrite(ledPin, HIGH); //当val小于512(2.5V)的时候，led亮。  }  else{    digitalWrite(ledPin, LOW);  }if(cm<=50.0){  digitalWrite(left1,LOW);  digitalWrite(left2, LOW);  digitalWrite(right1, LOW);  digitalWrite(right2, LOW);           //stopdelay(1000);panMotor.write(0);delay(500);cm_1=ping();delay(500);panMotor.write(180);delay(700);cm_2=ping();delay(500);panMotor.write(90); //回到中央delay(1000);delay(500);if(cm_1<=20.0&&cm_2<=20.0)             //backward{   digitalWrite(ledLeftpin,HIGH);  digitalWrite(ledRightpin,HIGH);   digitalWrite(left1, HIGH);  digitalWrite(left2, LOW);  digitalWrite(right1, HIGH);  digitalWrite(right2, LOW);  delay(2000);  digitalWrite(ledLeftpin,LOW);  digitalWrite(ledRightpin,LOW);}else{  if(cm_1>cm_2){   digitalWrite(ledRightpin,HIGH);  digitalWrite(left1,HIGH);  digitalWrite(left2, LOW);  digitalWrite(right1, LOW);  digitalWrite(right2, HIGH);  delay(2000);  digitalWrite(ledRightpin,LOW);  }  else  {    digitalWrite(ledLeftpin,HIGH);    digitalWrite(left1,LOW);  digitalWrite(left2, HIGH);  digitalWrite(right1, HIGH);  digitalWrite(right2, LOW);  delay(2000);   digitalWrite(ledLeftpin,LOW);  }}}else{   digitalWrite(left1, LOW);  digitalWrite(left2, HIGH);  digitalWrite(right1, LOW);  digitalWrite(right2, HIGH);}} float ping(){  float c;digitalWrite(TrigPin, LOW); //低高低电平发一个短时间脉冲去TrigPindelayMicroseconds(2);digitalWrite(TrigPin, HIGH);delayMicroseconds(10);digitalWrite(TrigPin, LOW);c = pulseIn(EchoPin, HIGH) / 58.0; //将回波时间换算成cmc = (int(c * 100.0)) / 100.0; //保留两位小数return c;}
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