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论坛嵌入式/单片机论坛ArduinoArduino智能小车控制步进电机花式运动红外遥控程序

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Arduino智能小车控制步进电机花式运动红外遥控程序

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电梯直达

楼主

ID:121509发表于 2016-6-4 10:22|只看该作者|只看大图回帖奖励

里面包含以下3个程序
步进电机
花式运动
红外遥控

步进电机的驱动需要LN298步进电机驱动器
智能小车的花式运动
红外遥控智能小车做相对应的运动

下面是红外遥控的代码：

#include< IRremote.h>//包含红外库
int RECV_PIN = A4;//端口声明
IRrecv irrecv(RECV_PIN);
decode_results results;//结构声明
int on = 0;//标志位
unsigned long last = millis();
long run_car = 0x00FF18E7;//按键2
long back_car = 0x00FF4AB5;//按键8
long left_car = 0x00FF10EF;//按键4
long right_car = 0x00FF5AA5;//按键6
long stop_car = 0x00FF38C7;//按键5
long left_turn = 0x00ff30CF;//按键1
long right_turn = 0x00FF7A85;//按键3
//==============================
int Left_motor_back=8; //左电机后退(IN1)
int Left_motor_go=9; //左电机前进(IN2)
int Right_motor_go=10; // 右电机前进(IN3)
int Right_motor_back=11; // 右电机后退(IN4)
int led1=13;
int led2=12;
void setup()
{
//初始化电机驱动IO为输出方式
pinMode(led1,OUTPUT);
pinMode(led2,OUTPUT);
pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM)
pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)
pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM)
pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM)
pinMode(13, OUTPUT);////端口模式，输出
Serial.begin(9600); //波特率9600
irrecv.enableIRIn(); // Start the receiver
}
void run() // 前进
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);//PWM比例0~255调速，左右轮差异略增减
//analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,HIGH); // 左电机前进
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,200);//PWM比例0~255调速，左右轮差异略增减
//analogWrite(Left_motor_back,0);
//delay(time * 100); //执行时间，可以调整
}
void brake() //刹车，停车
{ digitalWrite(led1,HIGH);
digitalWrite(led2,HIGH);
delay(1000);
digitalWrite(led1,LOW);
digitalWrite(led2,LOW);
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_back,LOW);
//delay(time * 100);//执行时间，可以调整
}
void left() //左转(左轮不动，右轮前进)
{ digitalWrite(led2,HIGH);
delay(500);
digitalWrite(led2,LOW);
delay(500);
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW); //左轮不动
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_left() //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,200);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,200);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void right() //右转(右轮不动，左轮前进)
{ digitalWrite(led1,HIGH);
delay(500);
digitalWrite(led1,LOW);
digitalWrite(Right_motor_go,LOW); //右电机不动
digitalWrite(Right_motor_back,LOW);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,0);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,200);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_right() //右转(右轮后退，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机后退
digitalWrite(Right_motor_back,HIGH);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,200);//PWM比例0~255调速
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
//analogWrite(Left_motor_go,200);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void back() //后退
{ digitalWrite(led1,HIGH);
digitalWrite(led2,HIGH);
delay(100);
digitalWrite(led1,LOW);
digitalWrite(led2,LOW);
delay(100);
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
//analogWrite(Right_motor_go,0);
//analogWrite(Right_motor_back,150);//PWM比例0~255调速
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
//analogWrite(Left_motor_go,0);
//analogWrite(Left_motor_back,150);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void dump(decode_results *results)
{
int count = results->rawlen;
if (results->decode_type == UNKNOWN)
{
//Serial.println("Could not decode message");
brake();
}
}
void loop()
{
if (irrecv.decode(&results)) //调用库函数：解码
{
// If it's been at least 1/4 second since the last
// IR received, toggle the relay
if (millis() - last > 250) //确定接收到信号
{
on = !on;//标志位置反
digitalWrite(13, on ? HIGH : LOW);//板子上接收到信号闪烁一下led
dump(&results);//解码红外信号
}
if (results.value == run_car )//按键2
{digitalWrite(led1,HIGH);
digitalWrite(led2,HIGH);delay(500);run();}//前进
if (results.value == back_car )//按键8
{back();digitalWrite(led1,HIGH);digitalWrite(led2,HIGH);}//后退
if (results.value == left_car )//按键4
{left();digitalWrite(led1,HIGH);digitalWrite(led2,LOW);}//左转
if (results.value == right_car )//按键6
{digitalWrite(led1,LOW);digitalWrite(led2,HIGH); right();}//右转
if (results.value == stop_car )//按键5
{ brake();digitalWrite(led1,LOW);digitalWrite(led2,LOW);}//停车
if (results.value == left_turn )//按键1
{spin_left();digitalWrite(led1,HIGH);digitalWrite(led2,LOW);}//左旋转
if (results.value == right_turn )//按键3
{digitalWrite(led1,LOW);digitalWrite(led2,HIGH); spin_right();}//右旋转
last = millis();
irrecv.resume(); // Receive the next value
}
}

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智能小车（arduino）.zip

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沙发

ID:146110发表于 2017-5-21 06:03|只看该作者

下载分不够，楼主能发给我一份资料吗？谢谢53896567@qq.com

板凳

ID:87193发表于 2017-12-19 10:18|只看该作者

有没有原理图呢

地板

ID:236125发表于 2018-1-20 12:17|只看该作者

#include< IRremote.h>
IRrecv irrecv(11);//定义的引脚
decode_results result;
#define dir1pinA 4
#define dir2pinA 5
#define speedpinA  3
#define led 8
#define dir1pinB 6
#define dir2pinB 7
#define speedpinB  9
long  forward_car=0x00FF18E7;//2
long  stop_car=0x00FF38C7;//5
long  houtui_car=0x00FF4A85;//8
long  left_car=0x00FF10EF;//4
long  right_car=0x00FF5AA5;//6
int speed;

void setup() {
   Serial.begin(9600);
   Serial.println("ABCD");
   irrecv.enableIRIn();
   delay(100);
   pinMode(dir1pinA,OUTPUT);
   pinMode(dir2pinA,OUTPUT);
   pinMode(speedpinA,OUTPUT);
   pinMode(dir1pinB,OUTPUT);
   pinMode(dir2pinB,OUTPUT);
   pinMode(speedpinB,OUTPUT);
   pinMode(led,OUTPUT);
   speed=0;
   delay(5);
}
void loop() {
   speed=150;
   if (irrecv.decode(&result))
   {
     Serial.println(result.value,HEX);
   if (result.value ==forward_car )
     {
         forward();
     }
   if (result.value ==stop_car)
   {
       allstop();
   }
   if (result.value == houtui_car)
   {
       daotui();
   }

   if (result.value == left_car )
   {
     turnleft();
     }
   if (result.value==right_car )
   {
     turnright();
   }
   delay(10);
   irrecv.resume();
   }
}
void allstop()
{       digitalWrite(led,HIGH);
       delay(500);
       digitalWrite(led,LOW);
         digitalWrite(dir1pinA,HIGH);
         digitalWrite(dir2pinA,LOW);
         digitalWrite(dir1pinB,HIGH);
         digitalWrite(dir2pinB,LOW);
         analogWrite(speedpinA,0);
       analogWrite(speedpinB,0);
       delay(100);
}
//自定义函数
void forward()
{
         digitalWrite(led,HIGH);
         delay(500);
         digitalWrite(led,LOW);
         digitalWrite(dir1pinA,HIGH);
         digitalWrite(dir2pinA,LOW);
         digitalWrite(dir1pinB,HIGH);
         digitalWrite(dir2pinB,LOW);

       analogWrite(speedpinA,speed);
       analogWrite(speedpinB,speed);
       delay(100);
}
void turnleft()
{
     digitalWrite(led,HIGH);
       delay(500);
       digitalWrite(led,LOW);
       digitalWrite(dir1pinA,HIGH);
       digitalWrite(dir2pinA,LOW);
       digitalWrite(dir1pinB,HIGH);
       digitalWrite(dir1pinB,LOW);

     analogWrite(speedpinA,0);
     analogWrite(speedpinB,speed);
     delay(100);
}
void turnright()
{
       digitalWrite(led,HIGH);
       delay(500);
       digitalWrite(led,LOW);
       digitalWrite(dir1pinA,HIGH);
       digitalWrite(dir2pinA,LOW);
       digitalWrite(dir1pinB,HIGH);
       digitalWrite(dir1pinB,LOW);

       analogWrite(speedpinA,speed);
       analogWrite(speedpinB,0);
       delay(100);

}

void daotui()
{

       digitalWrite(led,HIGH);
       delay(500);
       digitalWrite(led,LOW);
       digitalWrite(dir1pinA,LOW);
       digitalWrite(dir2pinA,HIGH);
       digitalWrite(dir1pinB,LOW);
       digitalWrite(dir1pinB,HIGH);

       analogWrite(speedpinA,speed);
       analogWrite(speedpinB,speed);
       delay(100);
}
为什么我的小车只有一侧动，另一侧没反应，

5^#

ID:1114694发表于 2024-3-29 16:35|只看该作者

哎，没搞懂

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