接线图
#include< Servo.h>
int pinLB=14; // Define a 14 Pin
int pinLF=15; // Define a 15 Pin
int pinRB=16; // Define a 16 Pin
int pinRF=17; // Define a 17 Pin
int MotorLPWM=5; //Define a 5 Pin
int MotorRPWM=6; //Define a 6 Pin
int inputPin = 9; // Define the ultrasound signal receiving a Pin
int outputPin =8; //Define the ultrasound signal emission Pin
int Fspeedd = 0; // go
int Rspeedd = 0; // The right to
int Lspeedd = 0; // Turn left to
int directionn = 0; // After the former = 8 = 2 left = 4 right = 6
Servo myservo; // Set up the myservo
int delay_time = 250; // After the servo motor to the stability of the time
int Fgo = 8; // go
int Rgo = 6; // The right to
int Lgo = 4; // Turn left to
int Bgo = 2; // astern
void setup()
{
Serial.begin(9600); // Initialize
pinMode(pinLB,OUTPUT); // Define 14 pin for the output (PWM)
pinMode(pinLF,OUTPUT); // Define 15 pin for the output (PWM)
pinMode(pinRB,OUTPUT); // Define 16 pin for the output (PWM)
pinMode(pinRF,OUTPUT); // Define 17 pin for the output (PWM)
pinMode(MotorLPWM, OUTPUT); // Define 5 pin for PWM output
pinMode(MotorRPWM, OUTPUT); // Define 6 pin for PWM output
pinMode(inputPin, INPUT); // Define the ultrasound enter pin
pinMode(outputPin, OUTPUT); // Define the ultrasound output pin
myservo.attach(11); // Define the servo motor output 10 pin(PWM)
}
void advance(int a) // go
{
digitalWrite(pinRB,LOW); // 16 feet for high level
digitalWrite(pinRF,HIGH); //17 feet for low level
analogWrite(MotorRPWM,180);//Set the output speed(PWM)
digitalWrite(pinLB,LOW); // 14 feet for high level
digitalWrite(pinLF,HIGH); //15 feet for high level
analogWrite(MotorLPWM,180);//Set the output speed(PWM)
delay(a * 1);
}
void right(int b) //right
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,LOW);
analogWrite(MotorRPWM,250);
digitalWrite(pinLB,LOW);
digitalWrite(pinLF,LOW);
delay(b * 100);
}
void left(int c) //left
{
digitalWrite(pinRB,LOW);
digitalWrite(pinRF,LOW);
digitalWrite(pinLB,LOW);
digitalWrite(pinLF,HIGH);
analogWrite(MotorLPWM,250);
delay(c * 100);
}
void turnR(int d) //right
{
digitalWrite(pinRB,LOW);
digitalWrite(pinRF,HIGH);
analogWrite(MotorRPWM,250);
digitalWrite(pinLB,HIGH);
digitalWrite(pinLF,LOW);
analogWrite(MotorLPWM,250);
delay(d * 50);
}
void turnL(int e) //left
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,LOW);
analogWrite(MotorRPWM,220);
digitalWrite(pinLB,LOW);
digitalWrite(pinLF,HIGH);
analogWrite(MotorLPWM,220);
delay(e * 50);
}
void stopp(int f) //stop
{
digitalWrite(pinRB,LOW);
digitalWrite(pinRF,LOW);
digitalWrite(pinLB,LOW);
digitalWrite(pinLF,LOW);
delay(f * 100);
}
void back(int g) //back
{
digitalWrite(pinRB,HIGH);
digitalWrite(pinRF,LOW);
analogWrite(MotorRPWM,0);
digitalWrite(pinLB,HIGH);
digitalWrite(pinLF,LOW);
analogWrite(MotorLPWM,230);
delay(g * 500);
}
void detection() //Measuring three angles(0.90.179)
{
int delay_time = 200; // After the servo motor to the stability of the time
ask_pin_F(); // Read in front of the distance
if(Fspeedd< 10) // If the front distance less than 10 cm
{
stopp(1); // Remove the output data
back(2); // The back two milliseconds
}
if(Fspeedd< 25) // If the front distance less than 25 cm
{
stopp(1); // Remove the output data
ask_pin_L(); // Read the left distance
delay(delay_time); // Waiting for the servo motor is stable
ask_pin_R(); // Read the right distance
delay(delay_time); // Waiting for the servo motor is stable
if(Lspeedd > Rspeedd) //If the distance is greater than the right distance on the left
{
directionn = Lgo; //Left
}
if(Lspeedd< = Rspeedd) //If the distance is less than or equal to the distance on the right
{
directionn = Rgo; //right
}
if (Lspeedd< 15&& Rspeedd< 15) /*If the left front distance and distance and the right distance is less than 15 cm */
{
directionn = Bgo; //Walk backwards
}
}
else //If the front is not less than 25 cm (greater than)
{
directionn = Fgo; //Walk forward
}
}
void ask_pin_F() // Measure the distance ahead
{
myservo.write(90);
digitalWrite(outputPin, LOW); // For low voltage 2 us ultrasonic launch
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // Let ultrasonic launch 10 us high voltage, there is at least 10 us
delayMicroseconds(10);
digitalWrite(outputPin, LOW); // Maintaining low voltage ultrasonic launch
float Fdistance = pulseIn(inputPin, HIGH); // Read the time difference
Fdistance= Fdistance/5.8/10; // A time to distance distance (unit: cm）
Serial.print("F distance:"); //The output distance (unit: cm)
Serial.println(Fdistance); //According to the distance
Fspeedd = Fdistance;
}
void ask_pin_L() // Measure the distance on the left
{
myservo.write(5);
delay(delay_time);
digitalWrite(outputPin, LOW); // For low voltage 2 us ultrasonic launch
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // Let ultrasonic launch 10 us high voltage, there is at least 10 us
delayMicroseconds(10);
digitalWrite(outputPin, LOW); // Maintaining low voltage ultrasonic launch
float Ldistance = pulseIn(inputPin, HIGH); // Read the time difference
Ldistance= Ldistance/5.8/10; // Will be time to distance distance (unit: cm)
Serial.print("L distance:"); //The output distance (unit: cm)
Serial.println(Ldistance); //According to the distance
Lspeedd = Ldistance; // Will reading Lspeedd distance
}
void ask_pin_R() // Measure the distance on the right
{
myservo.write(177);
delay(delay_time);
digitalWrite(outputPin, LOW); // For low voltage 2 us ultrasonic launch
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // Let ultrasonic launch 10 us high voltage, there is at least 10 us
delayMicroseconds(10);
digitalWrite(outputPin, LOW); // Maintaining low voltage ultrasonic launch
float Rdistance = pulseIn(inputPin, HIGH); // Read the time difference
Rdistance= Rdistance/5.8/10; //Will be time to distance distance (unit: cm)
Serial.print("R distance:"); //The output distance (unit: cm)
Serial.println(Rdistance); //According to the distance
Rspeedd = Rdistance;
}
void loop()
{
myservo.write(90); /*Make the servo motor ready position Prepare the next measurement */
detection(); //Measuring Angle And determine which direction to go to
if(directionn == 2) //If directionn (direction) = 2 (back)
{
back(8); // back
turnL(2); //Move slightly to the left (to prevent stuck in dead end lane)
Serial.print(" Reverse "); //According to the direction (reverse)
}
if(directionn == 6) //If directionn (direction) = 6 (right)
{
back(1);
turnR(6); // right
Serial.print(" Right "); //According to the direction (Right)
}
if(directionn == 4) //If directionn (direction) = 4 (left)
{
back(1);
turnL(6); // left
Serial.print(" Left "); //According to the direction (Left)
}
if(directionn == 8) //If directionn (direction) = 8 (forward)
{
advance(1); // go
Serial.print(" Advance "); //According to the direction (Advance)
Serial.print(" ");
}
}
