參考資料：http://sinocgtchen.blogspot.tw/2013/05/motoduinoarduino-l293d-ir-tracker-sensor.html
利用手機APP,透過藍芽來測試自走車會不會按照「高速 中速 低速」的指令來運動
#include <SoftwareSerial.h>
SoftwareSerial BT(0,1); // 接收腳(RX), 傳送腳(TX)；接HC-06之TXD、RXD；先不要用0,1,因為USB用
const int Motor_E1 = 5; // 控制馬達1轉速 digital pin 5 of Arduino (PWM)
const int Motor_E2 = 6; // 控制馬達2轉速 digital pin 6 of Arduino (PWM)
const int Motor_M1 = 10; // 控制馬達1正反轉 digital pin 10 of Arduino
const int Motor_M2 = 11; // 控制馬達2正反轉 digital pin 11 of Arduino
char val; // 接收來自藍芽資料
int power;
void setup()
{
// Start serial communication at 57600 baud rate(傳輸率)
// Serial.begin(57600);
BT.begin(57600);
pinMode(Motor_M1, OUTPUT); //設定 Motor_M1為輸出腳位
pinMode(Motor_M2, OUTPUT); //設定 Motor_M2為輸出腳位出
power=0;
}
//////////// 主程式 ////////
void loop()
{
// if(Serial.available())
// { val = Serial.read();
if(BT.available() ) {
val=BT.read();
switch(val) {
case 'f': // 前進
forward(0, power);
break;
case 'b': // 後退
backward(0, power);
break;
case 'l': // 左轉
left(0, power);
break;
case 'r': // 右轉
right(0, power);
break;
case 's': // 停止
motorstop(0, 0);
break;
case 'x' :
lowspeed();
break;
case 'y' :
midspeed();
break;
case 'z' :
highspeed();
break;
} }
}
void motorstop(byte flag, byte motorspeed)
{
Serial.println("stop!");
digitalWrite( Motor_E1, motorspeed);
digitalWrite( Motor_E2, motorspeed);
}
void forward(byte flag, byte motorspeed)
{
Serial.println("forward!");
digitalWrite( Motor_M1, HIGH);
digitalWrite( Motor_M2, HIGH);
analogWrite( Motor_E1, motorspeed);
analogWrite( Motor_E2, motorspeed);
}
void backward(byte flag, byte motorspeed)
{
Serial.println("backward!");
digitalWrite( Motor_M1, LOW);
digitalWrite( Motor_M2, LOW);
analogWrite( Motor_E1, motorspeed);
analogWrite( Motor_E2, motorspeed);
}
void right(byte flag, byte motorspeed)
{
Serial.println("right!");
digitalWrite( Motor_M1, HIGH);
digitalWrite( Motor_M2, HIGH);
analogWrite( Motor_E1, 0);
analogWrite( Motor_E2, motorspeed);
}
void left(byte flag, byte motorspeed)
{
Serial.println("left!");
digitalWrite( Motor_M1, HIGH);
digitalWrite( Motor_M2, HIGH);
analogWrite( Motor_E1, motorspeed);
analogWrite( Motor_E2, 0);
}
void lowspeed(){
power=100;
}
void midspeed(){
power=200;
}
void highspeed(){
power=250;
}
--------------------------------------------------------------------
利用手機APP,透過藍芽來測試自走車的循跡功能(2016.05.15測試成功)
避障功能？？？
#include <Arduino.h>
#include <Wire.h>
//#include <Servo.h>
#include <SoftwareSerial.h>
SoftwareSerial BT(0,1); // 接收腳(RX), 傳送腳(TX)；接HC-06之TXD、RXD；先不要用0,1,因為USB用
// Sensor sequence: SLeftLeft SMiddle SRightRight
const int SLeftLeft = 2; //左感測器輸入腳
const int SMiddle = 3; //中間感測器輸入腳
const int SRightRight = 4; //右感測器輸入腳
// variables will change:
int SLL; //左感測器狀態
int SM; //中感測器狀態
int SRR; //右感測器狀態
const int Motor_E1 = 5; // 控制馬達1轉速 digital pin 5 of Arduino (PWM)
const int Motor_E2 = 6; // 控制馬達2轉速 digital pin 6 of Arduino (PWM)
const int Motor_M1 = 10; // 控制馬達1正反轉 digital pin 10 of Arduino
const int Motor_M2 = 11; // 控制馬達2正反轉 digital pin 11 of Arduino
char val; // 接收來自藍芽資料
int power;
byte SensorStatus=0;
//#define SENSOR_L 4;
//#define SENSOR_M 2;
//#define SENSOR_R 1;
double sw;
double sw2;
double flag;
double flag2;
float getDistance(int trig,int echo){
pinMode(trig,OUTPUT);
digitalWrite(trig,LOW);
delayMicroseconds(2);
digitalWrite(trig,HIGH);
delayMicroseconds(10);
pinMode(echo, INPUT);
return pulseIn(echo,HIGH,30000)/58.0;
}
void setup()
{
// Start serial communication at 57600 baud rate(傳輸率)
// Serial.begin(57600);
BT.begin(57600);
// 輸出入接腳初始設定
pinMode(SLeftLeft, INPUT);
pinMode(SMiddle, INPUT);
pinMode(SRightRight, INPUT);
pinMode(Motor_M1, OUTPUT); //設定 Motor_M1為輸出腳位
pinMode(Motor_M2, OUTPUT); //設定 Motor_M2為輸出腳位出
power=200;
flag = 1;
sw2 = 1;
sw = 1;
flag2 = 1;
}
//////////// 主程式 ////////
void loop()
{
if((((sw)==(0))) & (((flag)==(0)))){
SensorStatus = (digitalRead(2)) + (((digitalRead(3)) * (2)) + ((digitalRead(4)) * (4)));
drivemotor();
}
if((((sw2)==(0))) & (((flag2)==(0)))){
if((getDistance(13,12)) < (10)){
backward(0, power);;
delay(1000*0.5);
if(((1)==(random(0,1)))){
left(0, power);
}else{
right(0, power);
}
delay(1000*0.5);
}
forward(0, power);
}
// if(Serial.available())
// { val = Serial.read();
if(BT.available() ) {
val=BT.read();
switch(val) {
case 'f': // 前進
forward(0, power);
break;
case 'b': // 後退
backward(0, power);
break;
case 'l': // 左轉
left(0, power);
break;
case 'r': // 右轉
right(0, power);
break;
case 's': // 停止
motorstop(0, 0);
flag = 1;
flag2 = 1;
break;
case 'x' :
lowspeed();
break;
case 'y' :
midspeed();
break;
case 'z' :
highspeed();
break;
case 't' :
if(((sw)==(0))){
sw = 1;
}
if(((sw)==(1))){
sw = 0;
flag = 0;
}
break;
case 'n' :
if(((sw2)==(0))){
sw2 = 1;
}
if(((sw2)==(1))){
sw2 = 0;
flag2 = 0;
}
break;
} }
}
void motorstop(byte flag, byte motorspeed)
{
Serial.println("stop!");
digitalWrite( Motor_E1, motorspeed);
digitalWrite( Motor_E2, motorspeed);
}
void forward(byte flag, byte motorspeed)
{
Serial.println("forward!");
digitalWrite( Motor_M1, HIGH);
digitalWrite( Motor_M2, HIGH);
analogWrite( Motor_E1, motorspeed);
analogWrite( Motor_E2, motorspeed);
}
void backward(byte flag, byte motorspeed)
{
Serial.println("backward!");
digitalWrite( Motor_M1, LOW);
digitalWrite( Motor_M2, LOW);
analogWrite( Motor_E1, motorspeed);
analogWrite( Motor_E2, motorspeed);
}
void right(byte flag, byte motorspeed)
{
Serial.println("right!");
digitalWrite( Motor_M1, HIGH);
digitalWrite( Motor_M2, HIGH);
analogWrite( Motor_E1, 0);
analogWrite( Motor_E2, motorspeed);
}
void left(byte flag, byte motorspeed)
{
Serial.println("left!");
digitalWrite( Motor_M1, HIGH);
digitalWrite( Motor_M2, HIGH);
analogWrite( Motor_E1, motorspeed);
analogWrite( Motor_E2, 0);
}
void lowspeed(){
power=150;
}
void midspeed(){
power=200;
}
void highspeed(){
power=250;
}
void drivemotor()
{
if(SensorStatus==0){
motorstop(0, 0);
}
if(SensorStatus==1){
left(0, power);
}
if(SensorStatus==2){
forward(0, power);
}
if(SensorStatus==3){
left(0, power);
}
if(SensorStatus==4){
right(0, power);
}
if(SensorStatus==5){
right(0, power);
}
if(SensorStatus==6){
right(0, power);
}
if(SensorStatus==7){
forward(0, power);
}
}
=======================================
單純循跡的官方範例
// Sensor sequence: SLeftLeft SMiddle SRightRight
const int SLeftLeft = 9; //左感測器輸入腳
const int SMiddle = 10; //中間感測器輸入腳
const int SRightRight = 11; //右感測器輸入腳
// variables will change:
int SLL; //左感測器狀態
int SM; //中感測器狀態
int SRR; //右感測器狀態
const int Motor_M1 = 7;
const int Motor_M2 = 8;
const int Motor_E1 = 5;
const int Motor_E2 = 6;
byte byteSensorStatus=0;
#define SENSOR_L 4;
#define SENSOR_M 2;
#define SENSOR_R 1;
void setup() {
//set up serial communications
Serial.begin(9600);
// 輸出入接腳初始設定
pinMode(SLeftLeft, INPUT);
pinMode(SMiddle, INPUT);
pinMode(SRightRight, INPUT);
pinMode(Motor_M1, OUTPUT);
pinMode(Motor_M2, OUTPUT);
}
void loop(){
byteSensorStatus = 0;
// 讀取感測器狀態值
SLL = digitalRead(SLeftLeft);
if(SLL == 1)
byteSensorStatus = (byteSensorStatus | (0x01 << 2));
SM = digitalRead(SMiddle);
if(SM == 1)
byteSensorStatus = (byteSensorStatus | (0x01 << 1));
SRR = digitalRead(SRightRight);
if(SRR == 1)
byteSensorStatus = (byteSensorStatus | 0x01);
// Serial.println(byteSensorStatus, HEX);
switch(byteSensorStatus)
{ // 感測器黑色:0 白色:1
case 0: // SL:0 SM:0 SR:0
motorstop(0, 255);
break;
case 1: // SL:0 SM:0 SR:1 //no used
left(0, 255);
break;
case 2: // SL:0 SM:1 SR:0 //no used
motorstop(0, 255);
break;
case 3: // SL:0 SM:1 SR:1
left(0, 255);
break;
case 4: // SL:1 SM:0 SR:0 // no used
right(0, 255);
break;
case 5: // SL:1 SM:0 SR:1
forward(0, 255);
break;
case 6: // SL:1 SM:1 SR:0
right(0, 255);
break;
case 7: // SL:1 SM:1 SR:1
forward(0, 255);
}
}
void looptest(){
forward(0,255);
delay(1000);
back(0,255);
delay(1000);
right(0,255);
delay(1000);
left(0,255);
delay(1000);
motorstop(0,0);
delay(3000);
}
void motorstop(byte flag, byte numOfValues)
{
digitalWrite( Motor_E1, 0);
digitalWrite( Motor_E2, 0);
// Serial.println("stop : ");
}
void forward(byte flag, byte numOfValues)
{
digitalWrite( Motor_M1, LOW);
digitalWrite( Motor_M2, LOW);
analogWrite( Motor_E1, numOfValues);
analogWrite( Motor_E2, numOfValues);
}
void back(byte flag, byte numOfValues)
{
digitalWrite( Motor_M1, HIGH);
digitalWrite( Motor_M2, HIGH);
analogWrite( Motor_E1, numOfValues);
analogWrite( Motor_E2, numOfValues);
}
void right(byte flag, byte numOfValues)
{
digitalWrite( Motor_M1, LOW);
digitalWrite( Motor_M2, LOW);
analogWrite( Motor_E1, numOfValues);
analogWrite( Motor_E2, 0);
}
void left(byte flag, byte numOfValues)
{
digitalWrite( Motor_M1, LOW);
digitalWrite( Motor_M2, LOW);
analogWrite( Motor_E1, 0);
analogWrite( Motor_E2, numOfValues);
}