arduino小车代码,很全面.doc
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#include Servo.h
//定义四种状态
#define STOP 0
#define FORWARD 1
#define BACKWARD 2
#define TURNLEFT 3
#define TURNRIGHT 4
//引脚初始化
int leftMotor1 = 4;
int leftMotor2 = 5;
int rightMotor1 = 6;
int rightMotor2 = 7;
//舵机引脚初始化
int inputPin = 8;
int outputPin = 12;
Servo myServo;
void setup() {
myServo.attach(9); //测速引脚初始化
pinMode(leftMotor1, OUTPUT);
pinMode(leftMotor2, OUTPUT);
pinMode(rightMotor1, OUTPUT);
pinMode(rightMotor2, OUTPUT);
pinMode(inputPin, INPUT);
pinMode(outputPin, OUTPUT);
}
void loop() {
avoidance();
}
void motorRun(int cmd)
{
switch(cmd){
case FORWARD:
analogWrite(leftMotor1, 50);
analogWrite(leftMotor2, 0);
analogWrite(rightMotor1, 50);
analogWrite(rightMotor2, 0);
break;
case BACKWARD:
analogWrite(leftMotor1, 0);
analogWrite(leftMotor2, 50);
analogWrite(rightMotor1, 0);
analogWrite(rightMotor2, 50);
break;
case TURNLEFT:
analogWrite(leftMotor1, 0);
analogWrite(leftMotor2,150);
analogWrite(rightMotor1,150);
analogWrite(rightMotor2, 0);
break;
case TURNRIGHT:
analogWrite(leftMotor1, 150);
analogWrite(leftMotor2, 0);
analogWrite(rightMotor1, 0);
analogWrite(rightMotor2, 150);
break;
default:
analogWrite(leftMotor1, 0);
analogWrite(leftMotor2, 0);
analogWrite(rightMotor1, 0);
analogWrite(rightMotor2, 0);
break;
}
}
void avoidance()
{
int pos;
int dis[3];//距离
motorRun(FORWARD);
myServo.write(90);
dis[1]=getDistance(); //中间
if(dis[1]20)
{
motorRun(STOP);
for (pos = 90; pos = 170; pos += 1)
{
myServo.write(pos); // 将舵机转到“pos”的位置
delay(15);
}
dis[2]=getDistance(); //左边
for (pos = 170; pos = 10; pos -= 1)
{
myServo.write(pos); // 将舵机转到“pos”的位置
delay(15);
if(pos==90)
dis[1]=getDistance(); //中间
}
dis[
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