#include<IRremote.h> //包含红外库 关键点 int RECV_PIN = A4;//端口声明 IRrecv irrecv(RECV_PIN); decode_results results;//结构声明 int on = 0;//标志位 unsigned long last = millis(); int Left_motor_go=8; //左电机前进(IN1) int Left_motor_back=9; //左电机后退(IN2) int Right_motor_go=10; // 右电机前进(IN3) int Right_motor_back=11; // 右电机后退(IN4) int beep=A3;//定义蜂鸣器 数字A3 接口 const int SensorRight = 3; //右循迹红外传感器(P3.2 OUT1) const int SensorLeft = 4; //左循迹红外传感器(P3.3 OUT2) const int SensorRight_2 = 5; //左边红外避障传感器() const int SensorLeft_2 = 6; //右边红外避障传感器() int SR_2; //右边红外避障传感器状态 int SL_2; //左边红外避障传感器状态 int SL; //左循迹红外传感器状态 int SR; //右循迹红外传感器状态 // 定义超声波模块引脚 const int trigPin = 2; // 触发引脚 const int echoPin = 12; // 回波引脚 const int buzzerPin = A3;// 蜂鸣器引脚 //云台舵机 int sp0=1;//定义舵机接口数字接口1 //发射舵机 int sp1=7;//定义舵机接口数字接口7 int val1 = 0; int myangle1; //下面是servopulse函数部分(此函数意思:也就是說每次都是0.5ms高電平 1.98ms低電平 然後再0.52ms低電平 17ms延時也是低電平) void servopulse(int sp1,int val1)//定义一个脉冲函数 { myangle1=map(val1,0,180,500,2480); digitalWrite(sp1,HIGH);//将舵机接口电平至高 delayMicroseconds(myangle1);//延时脉宽值的微秒数 digitalWrite(sp1,LOW);//将舵机接口电平至低 delay(20-val1/1000); } //测距 float Ranging() { // 发送10微秒的高电平脉冲触发测距 digitalWrite(trigPin, LOW); delayMicroseconds(2); digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW); // 测量回波高电平持续时间（单位：微秒） long duration = pulseIn(echoPin, HIGH); // 计算距离（单位：厘米） // 声速 = 340 m/s = 0.034 cm/μs // 距离 = (时间 * 声速) / 2 (往返距离) float distance = duration * 0.034 / 2; return distance; } //射击 void shoot() { //炮口归为 for(int i=0;i<=100;i++)//给予舵机足够的时间让它转到指定角度 { servopulse(sp0,0);//转动云台 } int shootvar = 0; //只有检测到物体才开始发射 while(Ranging() > 80) { servopulse(sp0,shootvar);//转动云台 shootvar++; } digitalWrite(buzzerPin, HIGH); delay(500); digitalWrite(buzzerPin, LOW); delay(5000); for(int i=0;i<=100;i++)//给予舵机足够的时间让它转到指定角度 { servopulse(sp1,val1);//发射 } delay(500); } void setup() { //超声波+蜂鸣器初始化 pinMode(trigPin, OUTPUT); // 设置触发引脚为输出 pinMode(echoPin, INPUT); // 设置回波引脚为输入--------------------"); pinMode(buzzerPin, OUTPUT); // 设置蜂鸣器引脚为输出 //云台舵机初始化 pinMode(sp0,OUTPUT);//设定舵机接口为输出接口 pinMode(1,OUTPUT);//设定舵机接口为输出接口 //发射舵机初始化 pinMode(sp1,OUTPUT);//设定舵机接口为输出接口 //初始化电机驱动IO为输出方式 pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM) pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM) pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM) pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM) //循迹初始化 pinMode(SensorRight, INPUT); //定义右循迹红外传感器为输入 pinMode(SensorLeft, INPUT); //定义左循迹红外传感器为输入 pinMode(SensorRight_2, INPUT); //定义左红外传感器为输入 pinMode(SensorLeft_2, INPUT); //定义右红外传感器为输入 pinMode(13, OUTPUT);////端口模式，输出 irrecv.enableIRIn(); // Start the receiver 这个函数对寻迹 壁障的PWM控制有影响 右转函数 } //=======================智能小车的基本动作========================= //void run(int time) // 前进 void run() { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,50);//PWM比例0~255调速，左右轮差异略增减 analogWrite(Right_motor_back,0); digitalWrite(Left_motor_go,LOW); // 左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减 analogWrite(Left_motor_back,50); //delay(time * 100); //执行时间，可以调整 } //void brake(int time) //刹车，停车 void brake() { digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); //delay(time * 100);//执行时间，可以调整 } //void left(int time) //左转(左轮不动，右轮前进) void left() { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,50); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW); //左轮后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void spin_left() //左转(左轮后退，右轮前进) { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,50); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,HIGH); //左轮后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,10); analogWrite(Left_motor_back,0);//PWM比例0~255调速 // delay(time * 100); //执行时间，可以调整 } //void right(int time) //右转(右轮不动，左轮前进) void right()// //irrecv.enableIRIn(); // Start the receiver 这个函数对寻迹 壁障的PWM控制有影响 右转函数 { digitalWrite(Right_motor_go,LOW); //右电机后退 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW);//左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,150);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void spin_right() //右转(右轮后退，左轮前进) ////irrecv.enableIRIn(); // Start the receiver 这个函数对寻迹 壁障的PWM控制有影响 右转函数 { digitalWrite(Right_motor_go,LOW); //右电机后退 digitalWrite(Right_motor_back,HIGH); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,50);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW);//左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,10);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } //void back(int time) //后退 void back() { digitalWrite(Right_motor_go,LOW); //右轮后退 digitalWrite(Right_motor_back,HIGH); //analogWrite(Right_motor_go,0); // analogWrite(Right_motor_back,200);//PWM比例0~255调速 digitalWrite(Left_motor_go,HIGH); //左轮后退 digitalWrite(Left_motor_back,LOW); //analogWrite(Left_motor_go,200); //analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } //========================================================== int times = 0; void Robot_Traction() //机器人循迹子程序 { 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 SR_2 = digitalRead(SensorRight_2); SL_2 = digitalRead(SensorLeft_2); 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 spin_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 spin_right(); else { run(); delay(20); spin_right(); delay(10); } if(times < 4) { if(SR_2 == HIGH) { while(digitalRead(SensorLeft_2) == LOW) { spin_right(); SR = digitalRead(SensorRight); SL = digitalRead(SensorLeft); SR_2 = digitalRead(SensorRight_2); SL_2 = digitalRead(SensorLeft_2); } //停下 brake(); delay(300); /********************************/ //射击 shoot(); delay(300); times++; while(digitalRead(SensorLeft) == HIGH) { run(); } } else if(SL_2 == HIGH) { while(digitalRead(SensorRight_2) == LOW) { SR = digitalRead(SensorRight); SL = digitalRead(SensorLeft); SR_2 = digitalRead(SensorRight_2); SL_2 = digitalRead(SensorLeft_2); spin_left(); } //停下 brake(); delay(300); /********************************/ //射击 shoot(); delay(300); times++; while(digitalRead(SensorRight) == HIGH) { run(); } } } else if(times == 4) { if(SR_2 == HIGH) { //停下 brake(); delay(300); /********************************/ //射击 shoot(); } else if(SL_2 == HIGH) { delay(300); //射击 shoot(); } } } void loop() { delay(500); while(1) { Robot_Traction(); /* digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,80);//PWM比例0~255调速，左右轮差异略增减 analogWrite(Right_motor_back,0); digitalWrite(Left_motor_go,LOW); // 左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减 analogWrite(Left_motor_back,80); delay(500); brake(); for(int i=0;i<=100;i++)//给予舵机足够的时间让它转到指定角度 { servopulse(sp1,val1);//引用脉冲函数 } delay(500); for(int i=0;i<=100;i++)//给予舵机足够的时间让它转到指定角度 { servopulse(sp0,50);//引用脉冲函数 delay(20); } delay(500); for(int i=0;i<=100;i++)//给予舵机足够的时间让它转到指定角度 { servopulse(sp0,0);//引用脉冲函数 delay(20); } delay(500); */ } }