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

注意

紅外遙控程序注意將IRremote 復制到ARDuino安裝目錄下面,否則編譯會出現

鏈接：https://pan.baidu.com/s/1H7K2hdorQMiAOaZLz13qJw
提取碼：ilmt

C:\Program Files (x86)\Arduino\libraries\RobotIRremote\src\IRremoteTools.cpp:5:16: error: ‘TKD2’ was not declared in this scope int RECV_PIN = TKD2; // the pin the IR receiver is connected to ^編譯有誤。

Arduino遙控器按鍵表

代碼

// 智能小車紅外遙控實驗 // 實驗中所用接收紅外信號為配送遙控器的信號，也可打印出信號數值，配合其他紅外信號控制 // 本實驗不可調節電機速度，調節pwm值會影響紅外的信號接收 //============================================================================= #include <IRremote.h>//包含紅外庫 關鍵點 int RECV_PIN = A4;//端口聲明 IRrecv irrecv(RECV_PIN); decode_results results;//結構聲明 int on = 0;//標志位 unsigned long last = millis();long run_car = 0x00FF629D;//按鍵CH long back_car = 0x00FFA857;//按鍵+ long left_car = 0x00FF22DD;//按鍵<< long right_car = 0x00FFC23D;//按鍵>|| long stop_car = 0x00FF02FD;//按鍵>>| long left_turn = 0x00ffE01F;//按鍵- long right_turn = 0x00FF906F;//按鍵EQ //============================== 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)void setup() {//初始化電機驅動IO為輸出方式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)pinMode(13, OUTPUT);端口模式，輸出Serial.begin(9600); //波特率9600irrecv.enableIRIn(); // Start the receiver } void run() // 前進 {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,200);//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,200);//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() //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() //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 dump(decode_results *results) {int count = results->rawlen;if (results->decode_type == UNKNOWN) {//Serial.println("Could not decode message");brake();} //串口打印，調試時可以打開，實際運行中會影響反應速度，建議屏蔽 /*else {if (results->decode_type == NEC) {Serial.print("Decoded NEC: ");} else if (results->decode_type == SONY) {Serial.print("Decoded SONY: ");} else if (results->decode_type == RC5) {Serial.print("Decoded RC5: ");} else if (results->decode_type == RC6) {Serial.print("Decoded RC6: ");}Serial.print(results->value, HEX);Serial.print(" (");Serial.print(results->bits, DEC);Serial.println(" bits)");}Serial.print("Raw (");Serial.print(count, DEC);Serial.print("): ");for (int i = 0; i < count; i++) {if ((i % 2) == 1) {Serial.print(results->rawbuf[i]*USECPERTICK, DEC);} else {Serial.print(-(int)results->rawbuf[i]*USECPERTICK, DEC);}Serial.print(" ");}Serial.println(""); */ }void loop() {if (irrecv.decode(&results)) //調用庫函數：解碼{// If it's been at least 1/4 second since the last// IR received, toggle the relayif (millis() - last > 250) //確定接收到信號{on = !on;//標志位置反digitalWrite(13, on ? HIGH : LOW);//板子上接收到信號閃爍一下leddump(&results);//解碼紅外信號}if (results.value == run_car )//按鍵CHrun();//前進if (results.value == back_car )//按鍵+back();//后退if (results.value == left_car )//按鍵<<left();//左轉if (results.value == right_car )//按鍵>||right();//右轉if (results.value == stop_car )//按鍵>>|brake();//停車if (results.value == left_turn )//按鍵-spin_left();//左旋轉if (results.value == right_turn )//按鍵EQspin_right();//右旋轉last = millis(); irrecv.resume(); // Receive the next value} }

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