8路循迹小车_3.zip

/*首先，想说，本程序很厉害的，卖这个价便宜了，也有可能是我自恋，哈哈， 我看了许许多多资料和才搞出来，可以参加大比赛拿个好成绩了，可惜我没有机 会了，只是在学校拿了个第一，你拿成绩了给我说下哈*/ /*此程序擅长走直线，曲线，效果很好。还可以直角、十字、丁字、虚线、锐角 最好保证电池电压不要误差大，因为电池电压不同，会导致速度不同，走直线和 弯道没影响，但是对于特殊情况的转弯会有影响，比如电压低了直角转不了90度 转了80度，会使精度变差，但是车车还是会自己调节过来的，另外还要注意，转 弯时程序是停留在延时上，没有一直扫描，具体还需自己在自己车测试，调节。 希望你可以更加优化代码*/ //定义电机引脚 #define leftA_PIN 3 #define leftB_PIN 5 #define righA_PIN 6 #define righB_PIN 9 //定义红外传感器引脚 #define hw1 A0 #define hw2 A1 #define hw3 A2 #define hw4 A3 #define hw5 A4 #define hw6 A5 #define hw7 A6 #define hw8 A7 float wt=10,ct=30; //速度调节参数设置 int sign; //路口判断标志 int error = 0; //速度误差调节值 int hw[8] = {0,0,0,0,0,0,0,0}; //存储传感器状态 int motor_speed = 150; //小车速度 int L_motor_speed; //调节后左电机速度 int R_motor_speed; //调节后右电机速度 void read_hw(); //读取红外线模块状态 void sign_crossing(); //判断路口类型 void m_speed_change(); //电机速度调节 void turn (); //特殊情况转向 void straight_S_line(); //直线和S弯输出控制电机PWM void serial_data(); //串口显示数据 void m_stop(); //停止函数 void setup() { Serial.begin(9600); //串口波特率9600 pinMode (hw1, INPUT); //设置引脚为输入引脚 pinMode (hw2, INPUT); //设置引脚为输入引脚 pinMode (hw3, INPUT); //设置引脚为输入引脚 pinMode (hw4, INPUT); //设置引脚为输入引脚 pinMode (hw5, INPUT); //设置引脚为输入引脚 pinMode (hw6, INPUT); //设置引脚为输入引脚 pinMode (hw7, INPUT); //设置引脚为输入引脚 pinMode (hw8, INPUT); //设置引脚为输入引脚 pinMode (leftA_PIN, OUTPUT); //设置引脚为输出引脚 pinMode (leftB_PIN, OUTPUT); //设置引脚为输出引脚 pinMode (righA_PIN, OUTPUT); //设置引脚为输出引脚 pinMode (righB_PIN, OUTPUT); //设置引脚为输出引脚 m_stop(); //初始状态小车不动 } void loop() { read_hw(); //读取红外线模块状态 sign_crossing(); //判断路口类型 m_speed_change(); //电机速度调节 turn (); //特殊情况转向 straight_S_line(); //直线和S弯 输出控制电机PWM serial_data(); //串口显示数据 } void m_stop() //电机不动 { analogWrite(leftA_PIN,0); analogWrite(leftB_PIN,0); analogWrite(righA_PIN,0); analogWrite(righB_PIN,0); } void read_hw() //读取红外传感器数值， { hw[0] = digitalRead(hw1); hw[1] = digitalRead(hw2); hw[2] = digitalRead(hw3); hw[3] = digitalRead(hw4); hw[4] = digitalRead(hw5); hw[5] = digitalRead(hw6); hw[6] = digitalRead(hw7); hw[7] = digitalRead(hw8); } void sign_crossing() //判断路口类型，如果左边几个同时扫描到黑线，右边几个没有扫描到黑线，就为左直角转弯，反之右直角转弯。sign为路口状态标记 { //-----------------------------------------------直角路口判断----------------------------------------------------// if ((hw[0] == 1) && (hw[1] == 1) && (hw[2] == 1) && (hw[3] == 0) && (hw[4] == 0) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 0)) { //左90度路口 1 1 1 0 0 0 0 0 左转90度 sign = 1; } else if ((hw[0] == 1) && (hw[1] == 1) && (hw[2] == 1) && (hw[3] == 1) && (hw[4] == 0) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 0)) { //左90度路口 1 1 1 1 0 0 0 0 左转90度 sign = 1; } else if ((hw[0] == 1) && (hw[1] == 1) && (hw[2] == 1) && (hw[3] == 1) && (hw[4] ==1) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 0)) { //左90度路口 1 1 1 1 1 0 0 0 左转90度 sign = 1; } else if ((hw[0] == 0) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 0) && (hw[4] == 0) && (hw[5] == 1) && (hw[6] == 1) && (hw[7] == 1)) { //右90度路口 0 0 0 0 0 1 1 1 右转90度 sign = 2; } else if ((hw[0] == 0) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 0) && (hw[4] == 1) && (hw[5] == 1) && (hw[6] == 1) && (hw[7] == 1)) { //右90度路口 0 0 0 0 1 1 1 1 右转90度 sign = 2; } else if ((hw[0] == 0) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 1) && (hw[4] == 1) && (hw[5] == 1) && (hw[6] == 1) && (hw[7] == 1)) { //右90度路口 0 0 0 1 1 1 1 1 右转90度 sign = 2; } //-----------------------------------------------锐角路口判断----------------------------------------------------// //如果左边第一个扫描到黑线和中间某一个扫描到黑线，就为左锐角转弯，反之右锐角转弯。sign为路口状态标记 else if ((hw[0] == 1) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 1) && (hw[4] == 0) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 0)) { //左锐角 1 0 0 1 0 0 0 0 左转 sign = 3; } else if ((hw[0] == 1) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 0) && (hw[4] == 1) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 0)) { //左锐角 1 0 0 0 1 0 0 0 左转 sign = 3; } else if ((hw[0] == 1) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 1) && (hw[4] == 1) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 0)) { //左锐角 1 0 0 1 1 0 0 0 左转 sign = 3; } else if ((hw[0] == 1) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 0) && (hw[4] == 0) && (hw[5] == 1) && (hw[6] == 0) && (hw[7] == 0)) { //左锐角 1 0 0 0 0 1 0 0 左转 sign = 3; } else if ((hw[0] == 0) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 0) && (hw[4] == 1) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 1)) { //右锐角 0 0 0 0 1 0 0 1 右转 sign = 4; } else if ((hw[0] == 0) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 1) && (hw[4] == 1) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 1)) { //右锐角 0 0 0 1 1 0 0 1 右转 sign = 4; } else if ((hw[0] == 0) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 1) && (hw[4] == 0) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 1)) { //右锐角 0 0 0 1 0 0 0 1 右转 sign = 4; } else if ((hw[0] == 0) && (hw[1] == 0) && (hw[2] == 1) && (hw[3] == 0) && (hw[4] == 0) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 1)) { //右锐角 0 0 1 0 0 0 0 1 右转 sign = 4; } //-----------------------------------------------十字、丁字判断----------------------------------------------------// //判断是否遇到横线 else if ((hw[0] == 0) && (hw[1] == 1) && (hw[2] == 1) && (hw[3] == 1) && (hw[4] == 1) && (hw[5] == 1) && (hw[6] == 1) && (hw[7] == 0)) { sign = 5;// 0 1 1 1 1 1 1 0 } else if ((hw[0] == 0) && (hw[1] == 1) && (hw[2] == 1) && (hw[3] == 1) && (hw[4] == 1) && (hw[5] == 1) && (hw[6] == 1) && (hw[7] == 0)) { sign = 5;// 0 1 1 1 1 1 1 0 } else if ((hw[0] == 1) && (hw[1] == 1) && (hw[2] == 1) && (hw[3] == 1) && (hw[4] == 1) && (hw[5] == 1) && (hw[6] == 1) && (hw[7] == 1)) { sign = 5;// 1 1 1 1 1 1 1 1 } else if (sign = 5) //此处为判断的 十字、丁字 { analogWrite(leftA_PIN, 160); analogWrite(leftB_PIN, 0); analogWrite(righA_PIN, 160); analogWrite(righB_PIN, 0); delay(50);//直行50ms后判断是否还能扫描到黑线 if ((hw[0] == 0) && (hw[1] == 0) && (hw[2] == 0) && (hw[3] == 0) && (hw[4] == 0) && (hw[5] == 0) && (hw[6] == 0) && (hw[7] == 0)) { sign = 6; // 0 0 0 0 0 0 0 0 未扫扫描到黑线，丁字路口，可以设置左右转 } else { sign = 7; //扫描到黑线，十字路口，可以设置左右转和前