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arduino简单用PWM控制小车制作(加超声波和OLED显示)源程序

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ID:573864发表于 2019-8-2 11:08|显示全部楼层
只是一个新手，有一些错误及不完善的地方麻烦提一下。亲测是可以简单的实现的。把引脚这些定义到自己创的.h文件有助于整理。

制作出来的实物图如下：
51hei图片_20190802110706.jpg
51hei图片_20190802110700.jpg


Arduino源程序如下:
  1. include"arduino.h"

  3. #define inputPin A5  //超声波触发引脚
  4. #define outputPin A4  //超声波接收引脚

  6. int fm = A0;
  7. /*int K1;
  8. int K2;*/
  9. int limit_switch0 = A1;


  12. const byte right_motor_encoder_a = 2;
  13. const byte right_motor_encoder_b = 7;
  14. const byte left_motor_encoder_a = 3;
  15. const byte left_motor_encoder_b = 12;
  16. int Right_motor_go =9; //L298P直流电机驱动板的使能端口连接到数字接口8
  17. int Right_motor_back =10; //L298P直流电机驱动板的转向端口连接到数字接口9
  18. int Left_motor_go =5; //L298P直流电机驱动板的使能端口连接到数字接口5
  19. int Left_motor_back =6; //L298P直流电机驱动板的转向端口连接到数字接口4

  21. double right_position;//右轮脉冲数
  22. double right_position_pre;
  23. double left_position;//左轮脉冲数
  24. double left_position_pre;
  25. boolean right_Direction;//右轮旋转方向
  26. boolean left_Direction;//左轮旋转方向
  27. double speed_right;
  28. double speed_left;
  29. boolean result;

  31. unsigned long before = 0;
  32. unsigned long current = 0;
  33. unsigned long interval = 100;
复制代码
  1. #include"zzz.h"
  2. #include "U8g2lib.h"
  3. #ifdef U8X8_HAVE_HW_SPI
  4. #include< SPI.h>
  5. #endif
  6. #ifdef U8X8_HAVE_HW_I2C
  7. #include< Wire.h>
  8. #endif
  9. U8G2_SSD1306_128X64_NONAME_1_4W_SW_SPI u8g2(U8G2_R0, /* clock=*/ 13, /* data=*/ 11, /* cs=*/ A3, /* dc=*/ 4, /* reset=*/ 8);

  11. void setup()
  12. {  
  13.    Serial.begin(9600);//Initialize the serial port
  14.    u8g2.begin();
  15.    pinMode(fm,OUTPUT);
  16.    pinMode(inputPin,INPUT_PULLUP);
  17.    pinMode(outputPin,OUTPUT);
  18.    //初始化电机驱动IO为输出方式
  19.    pinMode(Left_motor_go,OUTPUT);
  20.    pinMode(Left_motor_back,OUTPUT);
  21.    pinMode(Right_motor_go,OUTPUT);
  22.    pinMode(Right_motor_back,OUTPUT);
  23.    pinMode(right_motor_encoder_a,INPUT_PULLUP);
  24.    pinMode(left_motor_encoder_a,INPUT_PULLUP);
  25.    pinMode(right_motor_encoder_b,INPUT);
  26.    pinMode(left_motor_encoder_b,INPUT);
  27.    pinMode(limit_switch,INPUT);
  28.   
  29.    EncoderInit();
  30. }
  31. void run()     // 前进
  32. {
  33.    digitalWrite(Right_motor_go,HIGH);  // 右电机前进
  34.    digitalWrite(Right_motor_back,LOW);    
  35.    analogWrite(Right_motor_go,52);
  36.    analogWrite(Right_motor_back,0);
  37.    digitalWrite(Left_motor_go,HIGH);  // 左电机前进
  38.    digitalWrite(Left_motor_back,LOW);
  39.    analogWrite(Left_motor_go,64);
  40.    analogWrite(Left_motor_back,0);
  41.   
  42. }
  43. void r_advance()
  44. {
  45. //  digitalWrite(Right_motor_go,HIGH);  // 右电机前进
  46. //   digitalWrite(Right_motor_back,LOW);    
  47.    analogWrite(Right_motor_go,80);
  48.    analogWrite(Right_motor_back,0);
  49.   // digitalWrite(Left_motor_go,LOW);  // 左电机前进
  50.   // digitalWrite(Left_motor_back,LOW);
  51.    analogWrite(Left_motor_go,0);
  52.    analogWrite(Left_motor_back,30);
  53. }
  54. void back()
  55. {
  56.    digitalWrite(Right_motor_go,LOW);  // 右电机前进
  57.    digitalWrite(Right_motor_back,HIGH);    
  58.    analogWrite(Right_motor_go,0);
  59.    analogWrite(Right_motor_back,68);
  60.    digitalWrite(Left_motor_go,LOW);  // 左电机前进
  61.    digitalWrite(Left_motor_back,HIGH);
  62.    analogWrite(Left_motor_go,0);
  63.    analogWrite(Left_motor_back,80);
  64. }

  66. void loop()
  67. {  
  68.    current = millis();
  69.    digitalWrite(outputPin, LOW);
  70.    delayMicroseconds(2);
  71.    digitalWrite(outputPin, HIGH); // Pulse for 10μs to trigger ultrasonic detection
  72.    delayMicroseconds(10);
  73.    digitalWrite(outputPin, LOW);
  74.    const unsigned long duration = pulseIn(inputPin, HIGH);// Read receiver pulse time
  75.    int distance = duration/58 ; // Transform pulse time to distance
  76.    if ( duration == 0 ){
  77.    Serial.println( "Warning: no pulse from sensor");
  78.    }
  79.    else{
  80.    Serial.print ( "distance is:" );
  81.    Serial.println ( distance );
  82.    }
  83.    delay(100);

  85.    if(distance<30){
  86.    back();
  87.    delay(500);
  88.    r_advance();
  89.    delay(300);
  90.    run();
  91.    }
  92.    else{
  93.    run();
  94.    }
  95.    if(distance<10){
  96.    back();
  97.    delay(1000);
  98.    r_advance();
  99.    delay(300);
  100.    run();
  101.    }
  102.    /*int i = analogRead(limit_switch);
  103.    if(i==0){
  104.        back();
  105.        delay(600);
  106.    }*/
  107.   
  108.   if((current=millis())-before > interval)
  109.      {
  110.        before = current;
  111.        Serial.print("left speed is:");
  112.        Serial.println(speed_left);
  113.        Serial.print("right speed is:");
  114.        Serial.println(speed_right);
  115.        speed_left=abs(left_position - left_position_pre)/300;
  116.        speed_right=abs(right_position - right_position_pre)/300;
  117.        left_position_pre = left_position;
  118.        right_position_pre = right_position;
  119.      }
  120.   u8g2.firstPage();
  121.   do {
  122.      u8g2.setFont(u8g2_font_courR12_tr);
  123.      u8g2.setCursor(0,15);
  124.      u8g2.print("distance:");
  125.      u8g2.setCursor(0,30);
  126.      u8g2.print(distance);
  127.      u8g2.print("cm");
  128.      u8g2.setCursor(0,45);
  129.      u8g2.print("l_s:");
  130.      u8g2.print((float)speed_left,2);    
  131.      u8g2.setCursor(0,60);
  132.      u8g2.print("r_s:");
  133.      u8g2.print((float)speed_right,2);  
  134.    } while ( u8g2.nextPage() );
  135.    delay(1000);
  136.    if(speed_left=0){
  137.    digitalWrite(fm,HIGH);
  138.    }
  139.    else{
  140.    digitalWrite(fm,LOW);
  141.    }
  142. }
  143.    /*if(speed_left>speed_right){
  144.    r_pwm++;
  145.    }else{
  146.    r_pwm++;
  147.    }
  148.    else if(speed_left=speed_right)
  149.    r_pwm=r_pwm;
  150.    }*/
  151. void EncoderInit()
  152. {
  153.   right_Direction = true;//default -> Forward  
  154.   pinMode(right_motor_encoder_b,OUTPUT);  
  155.   attachInterrupt(digitalPinToInterrupt(2), right_Speed, RISING);
  156.   left_Direction = true;//default -> Forward  
  157.   pinMode(left_motor_encoder_b,OUTPUT);  
  158.   attachInterrupt(digitalPinToInterrupt(3), left_Speed, RISING);
  159. }

  161. void  left_Speed()
  162. {
  163.    //Serial.println("left interrupt is ok");
  164.    int a = digitalRead(left_motor_encoder_a);
  165.    int b = digitalRead(left_motor_encoder_b);
  166.    if((a==HIGH&&b==LOW)||(a==LOW&&b==HIGH)){
  167.      left_position++;
  168.    }
  169.    else if((a==HIGH&&b==HIGH)||(a==LOW&&b==LOW)){
  170.        left_position--;
  171.      }
  172. }

  174. void  right_Speed()
  175. {
  176.      //Serial.println("right interrupt is ok");
  177.      int c = digitalRead(right_motor_encoder_a);
  178.      int d = digitalRead(right_motor_encoder_b);
  179.      if((c==HIGH&&d==LOW)||(c==LOW&&d==HIGH)){
  180.      right_position++;
  181.      }
  182.      else if((c==HIGH&&d==HIGH)||(c==LOW&&d==LOW)){
  183.        right_position--;
  184.        }
  185. }
复制代码
自己做的小车 有点丑
PWM.rar(2.18 KB, 下载次数: 14)

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