附 录
智能小车原理图
智能小车拓展板原理图
智能小车拓展板PCB
智能小车底板PCB
Arduino UNO原理图
Arduino UNO PCB
程序部分
void Robot_Traction() //机器人循迹子程序
{
//有信号为LOW 没有信号为HIGH
SR = digitalRead(SensorRight);//有信号表明在白色区域，车子底板上L1亮；没信号表明压在黑线上，车子底板上L1灭
SL = digitalRead(SensorLeft);//有信号表明在白色区域，车子底板上L2亮；没信号表明压在黑线上，车子底板上L2灭
if (SL == LOW && SR == LOW)
run(); //调用前进函数
else if (SL == HIGH & SR == LOW)// 左循迹红外传感器,检测到信号，车子向右偏离轨道，向左转
left();
else if (SR == HIGH & SL == LOW) // 右循迹红外传感器,检测到信号，车子向左偏离轨道，向右转
right();
else // 都是白色, 停止
brake();
}
void bz()//障碍程序
{
front_detection();//测量前方距离
if (Front_Distance < 20) //当遇到障碍物时
{
brake3(2);//先刹车
back3(3);//后退减速
brake3(2);//停下来做测距
left_detection();//测量左边距障碍物距离
right_detection();//测量右边距障碍物距离
if ((Left_Distance < 20 ) && ( Right_Distance < 20 )) //当左右两侧均有障碍物靠得比较近
spin_left3(0.7);//旋转掉头
else if (Left_Distance > Right_Distance) //左边比右边空旷
{
left3(4);//左转
brake3(1);//刹车，稳定方向
}
else//右边比左边空旷
{
right3(4);//右转
brake3(1);//刹车，稳定方向
}
}
else
{
run(); //无障碍物，直行
}
}
void gs() //跟随函数
{
front_detection();//测量前方距离
R = digitalRead(SensorR);//有信号表明在白色区域，红外传感器LED1亮
L = digitalRead(SensorL);//有信号表明在白色区域，红外传感器LED2亮
if (Front_Distance >9&&Front_Distance <= 30&&L == LOW&&R==LOW)
run(); //调用前进函数
else if (L == HIGH & R == LOW)// 左跟随红外传感器,检测到信号，车子向右偏离轨道，向左转
left();
else if (R == HIGH & L == LOW) // 右跟随红外传感器,检测到信号，车子向左偏离轨道，向右转
right();
else if(Front_Distance > 4 && Front_Distance <= 9&&L == LOW&&R==LOW)
brake();//先刹车
else if(Front_Distance > 0 && Front_Distance <= 4&&L == LOW&&R==LOW)
back();
else // 都是黑色, 停止
brake(); }
void ceju() //测距程序
{
front_detection();//测量前方距离
if (Front_Distance > 0 && Front_Distance <= 99 )
{
Serial.print("distance= ");
Serial.print(Front_Distance);
Serial.println("cm");
delay(700);
}
if(Front_Distance >99 )
Serial.println("Out of range");
delay(700);
}
void jxbcs()
{
int robotIniPosArray[4][2] = {
{servopin3, 90},
{servopin2, 90},
{servopin4, 90},
{servopin1, 90}
};
for (int i = 0; i < 4; i++){
servopulse(robotIniPosArray[i][0], robotIniPosArray[i][1]);
}
}
void jxb(char val1)
{
val = Serial.read();
switch (val1) {
case 'W': a += 10;if (a > 140) a = 140;servopulse(servopin1, a);
Serial.print("a="); Serial.println(a);break;
case 'S': a -= 10;if (a < 70) a = 70;servopulse(servopin1, a);
Serial.print("a="); Serial.println(a);break;
case 'A': b += 10;if (b > 180) b = 180;
Serial.print("b="); Serial.println(b);break;
case 'D': b -= 10;if (b < 0) b = 0;
Serial.print("b="); Serial.println(b);break;
case '8': c += 10;if (c > 180) c = 180;
Serial.print("c="); Serial.println(c);break;
case '5': c -= 10;if (c < 0) c = 0;
Serial.print("c="); Serial.println(c);break;
case '4': d += 10;if (d > 180) d = 180;servopulse(servopin4, d);
Serial.print("d="); Serial.println(d);break;
case '6': d -= 10;if (d < 0) d = 0; servopulse(servopin4, d);
Serial.print("d="); Serial.println(d);break;
break;
default:
break;
}
}
void dump(decode_results *results)
{
int count = results->rawlen;
if (results->decode_type == UNKNOWN)
{
brake();
}
}
void IR_IN() //机器人遥控子程序
{
if (irrecv.decode(&results)) //调用库函数：解码
{
if (millis() - last > 250) //确定接收到信号
{
on = !on;//标志位置反
dump(&results);//解码红外信号
}
if (results.value == CH0 ) { run2();delay(100);brake2();}//前进
if (results.value == CH1 ) { back2();delay(100);brake2();}//后退
if (results.value == PREV ) { left2();delay(80);brake2();}//左转
if (results.value == NEXT ) { right2();delay(80);brake2();}//右转
if (results.value == CH2 ) brake2();//停车
if (results.value == PLAY ) spin_left2();//左旋转
if (results.value == EQ ) spin_right2();//右旋转
if (results.value == IR_200 ) { jxbcs();keyMode = KEYMODE_1;brake2();}
if (results.value == VOL1 ) { val1 = 'W';jxb(val1); }
if (results.value == VOL2 ) { val1 = 'S'; jxb(val1); }
if (results.value == IR_0 ) { val1 = 'A';jxb(val1); }
if (results.value == IR_100 ) { val1 = 'D';jxb(val1); }
if (results.value == IR_1 ) { val1 = '8'; jxb(val1); }
if (results.value == IR_2 ) { val1 = '5';jxb(val1); }
if (results.value == IR_4 ) { val1 = '4';jxb(val1); }
if (results.value == IR_5 ) { val1 = '6'; jxb(val1);}
if (results.value == IR_6 ) keyMode = KEYMODE_1;
if (results.value == IR_7) keyMode = KEYMODE_2;
if (results.value == IR_8) keyMode = KEYMODE_3;
if (results.value == IR_9) keyMode = KEYMODE_4;
last = millis();
irrecv.resume(); // Receive the next value }}
void LEDTask()
{
switch (keyMode)
{
case KEYMODE_1: IR_IN();digitalWrite(PORT_LED1, HIGH); break; //调用复位程序case KEYMODE_2: Robot_Traction(); digitalWrite(PORT_LED1, LOW);break;
case KEYMODE_3: bz();digitalWrite(PORT_LED1, HIGH);break;//用超声波避障程序
case KEYMODE_4: gs();digitalWrite(PORT_LED1, LOW);break; //调用跟随程序
case KEYMODE_5: ceju(); digitalWrite(PORT_LED1, HIGH);break;//测距
default:
break;}}
void reve()
{
if( Serial.available()>0 ){
int receive=Serial.parseInt();
if(receive>=1 && receive<=5){moveSpeed=int(receive*40+55);}
else if(receive==0) {brake();Serial.println("Speed=0,brake");}//停车
else if(receive==100) { val1 = 'A';jxb(val1); }
else if(receive==101) { val1 = 'W';jxb(val1); }
else if(receive==102) { val1 = 'S';jxb(val1);}
else if(receive==103) { val1 = 'D';jxb(val1);}
else if(receive==104) { val1 = '5';jxb(val1);}
else if(receive==105) { val1 = '4';jxb(val1); }
else if(receive==106) { val1 = '6';jxb(val1);}
else if(receive==107) { val1 = '8';jxb(val1);}
else if(receive==117) { jxbcs(); keyMode = KEYMODE_1;Serial.println("FW");brake2();}
else if(receive==108) {run(); Serial.println("run");}//前进
else if(receive==109) {back();Serial.println("back");}//后退
else if(receive==110) {brake();Serial.println("brake");}//停车
else if(receive==111) { left();Serial.println("left");}//左
else if(receive==112) {right();Serial.println("right");}//右
else if(receive==113) {keyMode = KEYMODE_2;Serial.println("Robot_Traction");}//寻迹
else if(receive==114) {keyMode = KEYMODE_3;Serial.println("bz");}//避障
else if(receive==115) {keyMode = KEYMODE_4;Serial.println("gs");}//跟随
else if(receive==116) {keyMode = KEYMODE_5;}}}
void loop()
{
reve();//蓝牙遥控
IR_IN();//红外遥控
LEDTask();//模式区分
servopulse(servopin2, b);//2舵机连续转动
servopulse(servopin3, c);//3舵机连续转动
}
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