嵌入式四轴遥控小车开发(附带程序) - 数模混合 -

来源：网络用户发布，如有版权联系网管删除　2018-09-28　

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今天看到一台嵌入之梦的小车，但是上电之后发了疯似的乱跑，所以刷之。但新车间却没有网络，没办法，自己一点一点试。。结果如下

　　CT1 接受pwm，控制速度

　　CT2 前进控制信号，高电位转动

　　CT3 后退控制信号，高电位转动

　　但是由于小车上的UNO与我的Ubuntu连接有问题，貌似只有Windows是好的，Mac OS有时也会出问题。所以最后车上改用了Mega 1280。

　　但是又发现一个问题，就是Arduino使用USB供电的时候很正常，然而，使用车上接出来的5V电源时，程序就会混乱，完全没有一点规律。猜测可能是由于电机转动导致整个系统的电压下降，无法提供足够的电压给Arduino的板子上。这大概也是之前uno不会发疯的原因。没办法，在小车上再接一块9V层叠式电池，作为Arduino的电源。最后终于行了。

　　后面程序的作用是往前走，遇到前方有物体是后退，打弯，然后继续往前，一个简单的壁障程序。没有用到速度控制。下面就是这个小车最后的样子，手机拍的，将就看吧

　　左侧照

　　右侧照

　　再来一张

用到的程序就是下面的

//Author:	HE Qichen
//Email:	heqichen(a)gaishi.vicp.net
//Website:	http://gaishi.vicp.net
//Date:	2011-5-1

int status;

#define LEFT_SPEED   6
#define LEFT_FORWARD  7
#define LEFT_BACKWARD  8

#define RIGHT_SPEED  10
#define RIGHT_FORWARD  11
#define RIGHT_BACKWARD  12

#define ULTRASONIC_ECHO  3
#define ULTRASONIC_TRIG  4

#define NORMAL_SPEED  100
#define STOP_SPEED  0

void setup()
{
  Serial.begin(9600);
  setupMove();
  setupUltrasonic();
}



void loop()
{
  unsigned int d;
  moveForward();
  d = readDistance();
  Serial.println(d, DEC);
  if (d < 700)
  {
    moveBackward();
    delay(500);
    turnLeft();
    delay(200);
  }
}

void moveForward()
{
  analogWrite(LEFT_SPEED, NORMAL_SPEED);
  digitalWrite(LEFT_BACKWARD, LOW);
  digitalWrite(LEFT_FORWARD, HIGH);
  analogWrite(RIGHT_SPEED, NORMAL_SPEED);
  digitalWrite(RIGHT_BACKWARD, LOW);
  digitalWrite(RIGHT_FORWARD, HIGH);
}

void moveBackward()
{
  analogWrite(LEFT_SPEED, NORMAL_SPEED);
  digitalWrite(LEFT_BACKWARD, HIGH);
  digitalWrite(LEFT_FORWARD, LOW);
  analogWrite(RIGHT_SPEED, NORMAL_SPEED);
  digitalWrite(RIGHT_BACKWARD, HIGH);
  digitalWrite(RIGHT_FORWARD, LOW);
}

void turnLeft()
{
  analogWrite(LEFT_SPEED, NORMAL_SPEED);
  digitalWrite(LEFT_BACKWARD, HIGH);
  digitalWrite(LEFT_FORWARD, LOW);
  analogWrite(RIGHT_SPEED, NORMAL_SPEED);
  digitalWrite(RIGHT_BACKWARD, LOW);
  digitalWrite(RIGHT_FORWARD, HIGH);
}

void turnRight()
{
  analogWrite(LEFT_SPEED, NORMAL_SPEED);
  digitalWrite(LEFT_BACKWARD, LOW);
  digitalWrite(LEFT_FORWARD, HIGH);
  analogWrite(RIGHT_SPEED, NORMAL_SPEED);
  digitalWrite(RIGHT_BACKWARD, HIGH);
  digitalWrite(RIGHT_FORWARD, LOW);
}

void moveStop()
{
  analogWrite(LEFT_SPEED, STOP_SPEED);
  digitalWrite(LEFT_BACKWARD, LOW);
  digitalWrite(LEFT_FORWARD, LOW);
  analogWrite(RIGHT_SPEED, STOP_SPEED);
  digitalWrite(RIGHT_BACKWARD, LOW);
  digitalWrite(RIGHT_FORWARD, LOW);
}

void setupMove()
{
  pinMode(LEFT_SPEED, OUTPUT);
  pinMode(LEFT_FORWARD, OUTPUT);
  pinMode(LEFT_BACKWARD, OUTPUT);
  pinMode(RIGHT_SPEED, OUTPUT);
  pinMode(RIGHT_FORWARD, OUTPUT);
  pinMode(RIGHT_BACKWARD, OUTPUT);

  analogWrite(LEFT_SPEED, STOP_SPEED);
  digitalWrite(LEFT_FORWARD, LOW);
  digitalWrite(LEFT_BACKWARD, LOW);
  analogWrite(RIGHT_SPEED, STOP_SPEED);
  digitalWrite(RIGHT_FORWARD, LOW);
  digitalWrite(RIGHT_BACKWARD, LOW);
}

unsigned int readDistance()
{
  
  int duration;
  digitalWrite(ULTRASONIC_TRIG, LOW);
  delayMicroseconds(2);
  digitalWrite(ULTRASONIC_TRIG, HIGH);
  delayMicroseconds(5);
  digitalWrite(ULTRASONIC_TRIG, LOW);


  // The same pin is used to read the signal from the PING))): a HIGH
  // pulse whose duration is the time (in microseconds) from the sending
  // of the ping to the reception of its echo off of an object.
  duration = pulseIn(ULTRASONIC_ECHO, HIGH);
  return duration;

}

void  setupUltrasonic()
{
  pinMode(ULTRASONIC_TRIG, OUTPUT);
  pinMode(ULTRASONIC_ECHO, INPUT);
  
  digitalWrite(ULTRASONIC_TRIG, LOW);
}

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