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arduino蓝牙遥控车程序

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ID:882006发表于 2021-8-25 21:47|显示全部楼层
  1. //
  2. /*#include< SoftwareSerial.h>

  4. SoftwareSerial mySerial(10, 11); // RX, TX

  6. void setup() {
  7.   Serial.begin(9600);  
  8.   mySerial.begin(9600);
  9. }

  11. void loop() {
  12.   while(mySerial.available()){
  13.    Serial.write(mySerial.read());
  14.   }
  15.   while(Serial.available()) {
  16.    mySerial.write(Serial.read());
  17.   }
  18. }*/
  19. #include< SoftwareSerial.h>

  21. int m1=10;
  22. int m2=11;
  23. int m3=6;
  24. int m4=9;
  25. #define TRIG 7
  26. #define ECHO 8
  27. float cm;
  28. float tmp;
  29. float juli;
  30. int zhi;
  31. int i;
  32. int c;
  33. char BT_COM;
  34. char BT_CON;

  36. void setup()
  37. {
  38.    pinMode(m1,OUTPUT);
  39.    pinMode(m2,OUTPUT);
  40.    pinMode(m3,OUTPUT);
  41.    pinMode(m4,OUTPUT);

  43.    Serial.begin(9600);
  44. //   mySerial.begin(9600);
  45.    pinMode(TRIG,OUTPUT);//触发输入端，默认低电平，输入一个时常超过10μs的高电平脉冲即可触发模块发射一组超声波脉冲
  46.    pinMode(ECHO,INPUT);//回声输出端，默认低电平，模块发射超声波脉冲结束后，回声端就会输出高电平，直到监听到所有超声波脉冲的回声（或监听超时）后才会重新输出低电平

  48. }
  49. void distance()//定义距离
  50. {
  51.    digitalWrite(TRIG,LOW);
  52.    delayMicroseconds(2);
  53.    digitalWrite(TRIG,HIGH);
  54.    delayMicroseconds(10);
  55.    digitalWrite(TRIG,LOW);
  56.    tmp=float(pulseIn(ECHO,HIGH));
  57.    cm=(tmp*17)/1000;
  58.    Serial.print("Echo=");
  59.    Serial.print(tmp);
  60.    Serial.print(",距离=");
  61.    Serial.print(cm);
  62.    Serial.println("cm");
  63.    juli=cm;
  64. }
  65. void  pao()
  66. {
  67.    analogWrite(m1,i);
  68.    analogWrite(m2,0);
  69.    analogWrite(m3,i);
  70.    analogWrite(m4,0);
  71. }
  72. void  pao1()
  73. {
  74.    analogWrite(m1,255);
  75.    analogWrite(m2,0);
  76.    analogWrite(m3,255);
  77.    analogWrite(m4,0);
  78. }
  79. void shache()//定义刹车
  80. {
  81.    analogWrite(m1,0);
  82.    analogWrite(m2,0);
  83.    analogWrite(m3,0);
  84.    analogWrite(m4,0);
  85.   
  86. }
  87. void youzhuan()
  88. {
  89.   
  90.    analogWrite(m1,c);
  91.    analogWrite(m2,0);
  92.    analogWrite(m3,0);
  93.    analogWrite(m4,c);
  94. }
  95. void zuozhuan()
  96. {
  97.    analogWrite(m1,0);
  98.    analogWrite(m2,c);
  99.    analogWrite(m3,c);
  100.    analogWrite(m4,0);
  101. }
  102. void houtui()
  103. {
  104.    analogWrite(m1,0);
  105.    analogWrite(m2,i);
  106.    analogWrite(m3,0);
  107.    analogWrite(m4,i);
  108.   
  109. }

  111. void youxuanzhuan()
  112. {
  113.    analogWrite(m1,255);
  114.    analogWrite(m2,0);
  115.    analogWrite(m3,130);
  116.    analogWrite(m4,0);
  117. }
  118. void zuoxuanzhuan()
  119. {
  120.    analogWrite(m1,130);
  121.    analogWrite(m2,0);
  122.    analogWrite(m3,255);
  123.    analogWrite(m4,0);
  124. }
  125. void youzuozhuan()
  126. {
  127.    analogWrite(m1,0);
  128.    analogWrite(m2,130);
  129.    analogWrite(m3,0);
  130.    analogWrite(m4,255);
  131. }
  132. void youhouzhuan()
  133. {
  134.    analogWrite(m1,0);
  135.    analogWrite(m2,255);
  136.    analogWrite(m3,0);
  137.    analogWrite(m4,130);
  138. }
  139. void bizhang()
  140. {
  141.    while(1)
  142.    {
  143.     
  144.      distance();
  145.      if(juli<=60)
  146.        {
  147.        if(juli<45)
  148.        {
  149.          youzhuan();
  150.          delay(300);
  151.          distance();
  152.          if(juli<10)
  153.            {
  154.            shache();
  155.            houtui();
  156.            delay(200);
  157.            }
  158.           
  159.           
  160.        }
  161.          else
  162.          pao();  
  163.           
  164.        }
  165.        else
  166.        pao();
  167.     
  168.      }
  169.   

  171. }
  172.           
  173.     


  176. void loop()
  177.   {
  178.    while(1)
  179.   
  180.    {
  181.     
  182.      if(Serial.available())
  183.   
  184.      {
  185.        BT_COM=Serial.read();
  186.     
  187.        if(BT_COM =='0')
  188.        {
  189.        zhi=0;
  190.        i=155;
  191.        }
  192.        else
  193.        if(BT_COM =='1')
  194.        {
  195.        zhi=1;
  196.        i=175;
  197.        }
  198.        else
  199.        if(BT_COM =='2')
  200.        {
  201.        zhi=2;
  202.        i=195;
  203.        }
  204.        else
  205.        if(BT_COM =='3')
  206.        {
  207.        zhi=3;
  208.        i=225;
  209.        }
  210.        else
  211.        if(BT_COM =='4')
  212.        {
  213.        zhi=4;
  214.        i=255;
  215.        }
  216.        else
  217.        if(BT_COM =='5')
  218.        {
  219.        zhi=5;
  220.        c=155;
  221.        }
  222.          else
  223.        if(BT_COM =='6')
  224.        {
  225.        zhi=6;
  226.          c=175;
  227.        }
  228.          else
  229.        if(BT_COM =='7')
  230.        {
  231.        zhi=7;
  232.          c=195;
  233.       
  234.        }
  235.          else
  236.        if(BT_COM =='8')
  237.        {
  238.        zhi=8;
  239.          c=225;
  240.        }      
  241.          else
  242.        if(BT_COM =='9')
  243.        {
  244.        zhi=9;
  245.        c=255;
  246.        }    
  247.      Serial.print(",a=");
  248.      Serial.print( BT_COM);
  249.      Serial.print(",值=");
  250.      Serial.print(zhi);
  251.      Serial.print(",i=");
  252.      Serial.print(i);
  253.      Serial.print(",c=");
  254.      Serial.print(c);
  255.      switch(BT_COM)
  256.        {
  257.          case'a':  pao();
  258.                break;
  259.          case'b':  houtui();
  260.                break;
  261.          case'c':  zuozhuan();
  262.                break;
  263.          case'd':  youzhuan();
  264.                break;
  265.          case'f':  shache();
  266.                break;
  267.          case'h':  bizhang();
  268.                break;
  269.          case 'g':  zuoxuanzhuan();
  270.                break;
  271.          case 'e':  youxuanzhuan();
  272.                break;
  273.          case 'l':  youhouzhuan();
  274.                break;
  275.          case 'k':  youzuozhuan();
  276.                break;
  277.         
  278.        }
  279.                 
  280.   
  281.    }
  282.   
  283.   
  284.     
  285.    }
  286.   }

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