全向輪

有甩尾的 fu

int al=5,ar=3,bl=6,br=9,cl=10,cr=11;

int pwm=80;

void setup() {

pinMode(al,OUTPUT);

pinMode(ar,OUTPUT);

pinMode(bl,OUTPUT);

pinMode(br,OUTPUT);

pinMode(cl,OUTPUT);

pinMode(cr,OUTPUT);

}

void loop() {

//  switch

//aM      cM

//    bM

//clockwise:     1,0,1,0,1,0

//anti-clockwise:0,1,0,1,0,1

//forward:       1,0,0,0,0,1

//backward:      0,1,0,0,1,0

//right-curv:    1,0,1,0,0,1

//left-curv:     1,0,0,1,0,1

drivecar(pwm,0,pwm,0,pwm,0);

delay(5000);

drivecar(0,pwm,0,pwm,0,pwm);

delay(5000);

drivecar(pwm,0,0,0,0,pwm);

delay(5000);

drivecar(0,pwm,0,0,pwm,0);

delay(5000);

drivecar(pwm,0,pwm,0,0,pwm);

delay(5000);

drivecar(pwm,0,0,pwm,0,pwm);

delay(5000);

}

void drivecar(int pal,int par,int pbl,int pbr,int pcl,int pcr){

analogWrite(al,pal);

analogWrite(ar,par);

analogWrite(bl,pbl);

analogWrite(br,pbr);

analogWrite(cl,pcl);

analogWrite(cr,pcr);

}

對應藍芽控制, 1~9 對應 4 段速度, 5 停止, 分正反轉

#include <SoftwareSerial.h>

#include <Wire.h>

int cnt=0;

int alPin=5,arPin=3,blPin=6,brPin=9,clPin=10,crPin=11;

int al,ar,bl,br,cl,cr;

int pwm=60,pwmStep=8;

SoftwareSerial I2CBT(13,12);       //定義Arduino PIN10及PIN11分別為RX及TX腳位

                                                         //請注意Arduino的TX要接藍牙模組的RX, 反之亦然

void setup() {

Serial.begin(9600);

I2CBT.begin(9600);//bluetooth baud rate

}

void loop() {

byte cmmd[4];

int insize,cnt=0;

char ch;

while((insize=(I2CBT.available()))>0){

//沒有delay, 會不能動作

delay(50);

for (int i=0; i<insize; i++){

cmmd[cnt++]=char(I2CBT.read());

if(cmmd[cnt-1]==90){

//結束字符Z, 'Z'==90

cnt=0;

if(cmmd[0]!=90){

//會有一些多餘的通訊,用90濾掉

switch(cmmd[0]){

case 1:case 2:case 3:case 4:al = pwm+pwmStep*(5-cmmd[0]);ar=0;break;

case 6:case 7:case 8:case 9:ar = pwm+pwmStep*(cmmd[0]-5);al=0;break;

case 5:al = 0;ar=0;break;

}

switch(cmmd[1]){

case 1:case 2:case 3:case 4:bl = pwm+pwmStep*(5-cmmd[1]);br=0;break;

case 6:case 7:case 8:case 9:br = pwm+pwmStep*(cmmd[1]-5);bl=0;break;

case 5:bl = 0;br=0;break;

}

switch(cmmd[2]){

case 1:case 2:case 3:case 4:cl = pwm+pwmStep*(5-cmmd[2]);cr=0;break;

case 6:case 7:case 8:case 9:cr = pwm+pwmStep*(cmmd[2]-5);cl=0;break;

case 5:cl = 0;cr=0;break;

}

drivecar(al,ar,bl,br,cl,cr);

}

}

}

} //while

}

void drivecar(int pal,int par,int pbl,int pbr,int pcl,int pcr){

analogWrite(alPin,pal);

analogWrite(arPin,par);

analogWrite(blPin,pbl);

analogWrite(brPin,pbr);

analogWrite(clPin,pcl);

analogWrite(crPin,pcr);

}

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

int power = 80;

void setup() {

  // put your setup code here, to run once:

  pinMode(3,OUTPUT);

  pinMode(5,OUTPUT);

  pinMode(6,OUTPUT);

  pinMode(9,OUTPUT);

  pinMode(10,OUTPUT);

  pinMode(11,OUTPUT);

}

void loop() {

  /*analogWrite(11, 0);

  analogWrite(5, 0);

  analogWrite(9, 0);

  analogWrite(3, power-15);

  analogWrite(6, power);

  delay(2000);

  analogWrite(3, 0);

  analogWrite(6, 0);

  analogWrite(11, 0);

  analogWrite(9, power);

  analogWrite(10, power);

  delay(2000);

  analogWrite(9, 0);

  analogWrite(10, 0);

  analogWrite(3, 0);

  analogWrite(11, power);

  analogWrite(5, power-4);

  delay(2000);

  */

  goF();

  delay(2000);

  goHL();

  delay(2000);

  goHR(); 

  delay(4000);

  goHL();

  delay(2000);

  goB();

  delay(2000);

}

void goB(){ 

  analogWrite(9, 0);

  analogWrite(11, 0);

  analogWrite(5, 0); 

  analogWrite(6, 0);

  analogWrite(10, power);

  analogWrite(3, power-4);

}

void goF(){ 

  analogWrite(9, 0);

  analogWrite(10, 0);

  analogWrite(3, 0); 

  analogWrite(6, 0);

  analogWrite(11, power);

  analogWrite(5, power-4);

}

void goHR(){ 

  analogWrite(6, 0);

  analogWrite(11, 0);

  analogWrite(3, 0);

  analogWrite(5, (power-4)/1.8);

  analogWrite(10, power/1.8);

  analogWrite(9, power);

}

void goHL(){ 

  analogWrite(9, 0);

  analogWrite(10, 0);

  analogWrite(5, 0);

  analogWrite(11, power/2);

  analogWrite(3, power/2);

  analogWrite(6, power/1.1);

}