在下載到開發板之前要選擇好板和端口，具體參見：

ZYAR20A 亞克力2驅 藍牙 298尋跡避障機器人 —— Arduino相關設置

代碼

// 智能小車紅外避障實驗1（基礎避障） //=============================================================== //#include <Servo.h> int Left_motor_go=8; //左電機前進(IN1) int Left_motor_back=9; //左電機后退(IN2)int Right_motor_go=10; // 右電機前進(IN3) int Right_motor_back=11; // 右電機后退(IN4)int key=A2;//定義按鍵 數字A2 接口 int beep=A3;//定義蜂鳴器 數字A3 接口int LED=7;//定義LED 數字7 接口const int SensorRight_2 = 5; //左邊紅外避障傳感器() const int SensorLeft_2 = 6; //右邊紅外避障傳感器()int SR_2; //右邊紅外避障傳感器狀態 int SL_2; //左邊紅外避障傳感器狀態void setup() {//初始化電機驅動IO為輸出方式pinMode(Left_motor_go,OUTPUT); // PIN 8 ( 無 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)pinMode(key,INPUT);//定義按鍵接口為輸入接口pinMode(beep,OUTPUT);//定義蜂鳴器為輸出接口pinMode(LED,OUTPUT);//定義LED為輸出接口pinMode(SensorRight_2, INPUT); //定義中間避障傳感器為輸入} //=======================智能小車的基本動作========================= //void run(int time) // 前進 void run() // 前進 {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,160);//PWM比例0~255調速，左右輪差異略增減analogWrite(Right_motor_back,0);digitalWrite(Left_motor_go,LOW); // 左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0);//PWM比例0~255調速，左右輪差異略增減analogWrite(Left_motor_back,160);//delay(time * 100); //執行時間，可以調整 }void brake() //剎車，停車 {digitalWrite(Right_motor_go,LOW);digitalWrite(Right_motor_back,LOW);digitalWrite(Left_motor_go,LOW);digitalWrite(Left_motor_back,LOW);//delay(time * 100);//執行時間，可以調整 }//void left(int time) //左轉(左輪不動，右輪前進) void left() //左轉(左輪不動，右輪前進) {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,200); analogWrite(Right_motor_back,0);//PWM比例0~255調速digitalWrite(Left_motor_go,LOW); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,0);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }void spin_left( ) //左轉(左輪后退，右輪前進) {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,200); analogWrite(Right_motor_back,0);//PWM比例0~255調速digitalWrite(Left_motor_go,HIGH); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,200); analogWrite(Left_motor_back,0);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }//void right(int time) void right() //右轉(右輪不動，左輪前進) {digitalWrite(Right_motor_go,LOW); //右電機后退digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,0);//PWM比例0~255調速digitalWrite(Left_motor_go,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,200);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }void spin_right() //右轉(右輪后退，左輪前進) {digitalWrite(Right_motor_go,LOW); //右電機后退digitalWrite(Right_motor_back,HIGH);analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,200);//PWM比例0~255調速digitalWrite(Left_motor_go,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,200);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }void back() //后退 {digitalWrite(Right_motor_go,LOW); //右輪后退digitalWrite(Right_motor_back,HIGH);analogWrite(Right_motor_go,0);analogWrite(Right_motor_back,150);//PWM比例0~255調速digitalWrite(Left_motor_go,HIGH); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,150);analogWrite(Left_motor_back,0);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 } //==========================================================void keysacn()//按鍵掃描 {int val;val=digitalRead(key);//讀取數字7 口電平值賦給valwhile(!digitalRead(key))//當按鍵沒被按下時，一直循環{val=digitalRead(key);//此句可省略，可讓循環跑空}while(digitalRead(key))//當按鍵被按下時{delay(10); //延時10msval=digitalRead(key);//讀取數字7 口電平值賦給valif(val==HIGH) //第二次判斷按鍵是否被按下{digitalWrite(beep,HIGH); //蜂鳴器響while(!digitalRead(key)) //判斷按鍵是否被松開digitalWrite(beep,LOW); //蜂鳴器停止}elsedigitalWrite(beep,LOW);//蜂鳴器停止} }void loop() {keysacn(); //調用按鍵掃描函數while(1){//有信號為LOW 沒有信號為HIGHSR_2 = digitalRead(SensorRight_2);SL_2 = digitalRead(SensorLeft_2);if (SL_2 == HIGH&&SR_2==HIGH){run(); //調用前進函數digitalWrite(beep,LOW);}else if (SL_2 == HIGH & SR_2 == LOW)// 右邊探測到有障礙物，有信號返回，向左轉 left();else if (SR_2 == HIGH & SL_2 == LOW) //左邊探測到有障礙物，有信號返回，向右轉 spin_right();else // 都是有障礙物, 后退{digitalWrite(beep,HIGH); //蜂鳴器響//digitalWrite(LED,HIGH); //LED亮brake();//停止200MSdelay(300);back();//后退500MSdelay(400);left();//調用左轉函數 延時500ms delay(500); }} }

總結

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