这是一个会炫酷倒车并180°摆头的小车

一、小车组件

接了3个红外探测，一个稳压电路，一个驱动，和一个arduino主板，四个车轮和车轮电机。

二、小车展示

1.小车样子

2.倒车动作

• 下面是小车代码

• #define STOP      0    //定义五个运动状态
  #define FORWARD   1
  #define BACKWARD  2
  #define TURNLEFT  3
  #define TURNRIGHT 4
   
  int LeftMotor1 = 6;    //车轮接口
  int LeftMotor2 = 7;
  int RightMotor1 = 4;
  int RightMotor2 = 5;
  int ena=9;             //电机使能ena和enb
  int enb=10;
  int trac1=11;          //trac1~3分别是三个红外接口
  int trac2=12;
  int trac3=8;
  int data[3];           //用来接受三个红外状态
  int flag=0;
  
  
  void setup() //初始化设置
  {
    Serial.begin(9600);
    pinMode(LeftMotor1, OUTPUT);
    pinMode(LeftMotor2, OUTPUT);
    pinMode(RightMotor1, OUTPUT);
    pinMode(RightMotor2, OUTPUT);
    pinMode(ena,OUTPUT);
    pinMode(enb,OUTPUT);
    pinMode(trac1,INPUT);
    pinMode(trac2,INPUT);
    pinMode(trac3,INPUT);
  }
  
  void loop()     //循环进行trace函数
  {
    while(1)
      trace();    //循迹函数
  }
  
  void motorRun(int cmd)//运动状态
  {
    switch(cmd)
    {
      case FORWARD://前进
        {
        digitalWrite(LeftMotor1, HIGH);    //高电流
        digitalWrite(LeftMotor2, LOW);     //低电流
        digitalWrite(RightMotor1, HIGH);
        digitalWrite(RightMotor2, LOW);
        break;}
       case BACKWARD://返回
        {digitalWrite(LeftMotor1, LOW);
        digitalWrite(LeftMotor2, HIGH);
        digitalWrite(RightMotor1, LOW);
        digitalWrite(RightMotor2, HIGH);
       break;}
       case TURNLEFT://左转
        {
        digitalWrite(RightMotor1, HIGH);
        digitalWrite(RightMotor2, LOW);
        digitalWrite(LeftMotor1, LOW);
        digitalWrite(LeftMotor2, HIGH);
       break;}
       case TURNRIGHT://右转
       {
        digitalWrite(LeftMotor1,HIGH );
        digitalWrite(LeftMotor2, LOW);
        digitalWrite(RightMotor1,LOW);
        digitalWrite(RightMotor2, HIGH);
        break;}
       default://停止
        {digitalWrite(LeftMotor1, LOW);
        digitalWrite(LeftMotor2, LOW);
        digitalWrite(RightMotor1, LOW);
        digitalWrite(RightMotor2, LOW);}
    }
  }
  
  void trace()
  {
  
      data[0]= digitalRead(11);//红外输入
      data[1]= digitalRead(12);
      data[2]= digitalRead(8);
    
    analogWrite(ena,255);    //pwm波调满
    analogWrite(enb,255);
    motorRun(FORWARD);
  
    if(data[0]==0)
    {
      while(data[1])        //右边红外检测到时，右转
      {
        data[1]= digitalRead(12);
        analogWrite(ena,255);
        analogWrite(enb,255);
        motorRun(TURNRIGHT);
      }
    }
   
  
    if(data[2]==0)
    {
      while(data[1])        //左边红外检测到时，左转
      {
        data[1]= digitalRead(12);
        analogWrite(ena,255);
        analogWrite(enb,255);
        motorRun(TURNLEFT);
      }
    }
    
      data[0]= digitalRead(11);//红外输入
      data[1]= digitalRead(12);
      data[2]= digitalRead(8);
  
  
      if(data[2]==0&&data[0]==0&&data[1]==0) //当小车三个红外同时检测到时
      {
        motorRun(FORWARD);                   //先往前运动150ms
        delay(150);
        motorRun(STOP); 
        delay(3000);                         //停3s
        analogWrite(ena,255);                //给倒退时电机的使能
        analogWrite(enb,255);
        motorRun(BACKWARD);                  //倒退1s  
        delay(1000);
        motorRun(TURNRIGHT);                 //先让车头右转500ms
        delay(500);
        data[1]= digitalRead(12);            //更新中间红外的状态
        while(data[1]==1)                    //车头持续右转
        {
          data[1]= digitalRead(12);           //随时更新中间红外状态,没有检测到白线就持续右转
          motorRun(TURNRIGHT);
        }
        }
      }
    }  
  }

• ---

  总结

         这是我初学C语言和Arduino时和两个队友做出的小车，用来参加了一个小比赛。挺感谢我的两个队友，不是她们的话这小车都不能顺利的跑起来。当时这个倒车加摆头还是挺惊艳的。总之，这次调小车的过程还是带给我很多快乐和回忆，同时也学会了好多东西。

标签：循迹,Arduino,int,小车,digitalRead,LOW,digitalWrite,motorRun,data
来源： https://blog.csdn.net/weixin_64344153/article/details/123218701