写一个Arduino L298N驱动电机的五路传感器的循迹小车,所寻轨迹为闭环黑色轨道,要含有pid算法的代码
时间: 2024-03-24 14:35:42 浏览: 25
好的,以下是一个简单的Arduino L298N驱动电机的五路传感器的循迹小车,并且包含PID算法的代码,可以实现在闭环黑色轨道上循迹:
```C++
// 定义引脚
#define LeftMotor1 2
#define LeftMotor2 3
#define RightMotor1 4
#define RightMotor2 5
#define LeftSensor A0
#define MiddleLeftSensor A1
#define MiddleSensor A2
#define MiddleRightSensor A3
#define RightSensor A4
// 定义PID参数
double Kp = 1.2;
double Kd = 0.5;
double Ki = 0.2;
// 定义变量
int LeftSensorValue = 0;
int MiddleLeftSensorValue = 0;
int MiddleSensorValue = 0;
int MiddleRightSensorValue = 0;
int RightSensorValue = 0;
int Error = 0;
int PreviousError = 0;
int Integral = 0;
int Derivative = 0;
int Output = 0;
void setup() {
// 设置引脚模式
pinMode(LeftMotor1, OUTPUT);
pinMode(LeftMotor2, OUTPUT);
pinMode(RightMotor1, OUTPUT);
pinMode(RightMotor2, OUTPUT);
pinMode(LeftSensor, INPUT);
pinMode(MiddleLeftSensor, INPUT);
pinMode(MiddleSensor, INPUT);
pinMode(MiddleRightSensor, INPUT);
pinMode(RightSensor, INPUT);
// 初始化串口通信
Serial.begin(9600);
}
void loop() {
// 读取传感器值
LeftSensorValue = analogRead(LeftSensor);
MiddleLeftSensorValue = analogRead(MiddleLeftSensor);
MiddleSensorValue = analogRead(MiddleSensor);
MiddleRightSensorValue = analogRead(MiddleRightSensor);
RightSensorValue = analogRead(RightSensor);
// 计算误差
Error = (LeftSensorValue * (-2) + MiddleLeftSensorValue * (-1) + MiddleSensorValue * 0 + MiddleRightSensorValue * 1 + RightSensorValue * 2) / (LeftSensorValue + MiddleLeftSensorValue + MiddleSensorValue + MiddleRightSensorValue + RightSensorValue);
// 计算积分项和微分项
Integral = Integral + Error;
Derivative = Error - PreviousError;
// 计算输出
Output = Kp * Error + Ki * Integral + Kd * Derivative;
// 保存上一个误差
PreviousError = Error;
// 控制小车转向
if (Output < 0) {
digitalWrite(LeftMotor1, HIGH);
digitalWrite(LeftMotor2, LOW);
digitalWrite(RightMotor1, HIGH);
digitalWrite(RightMotor2, LOW);
}
else if (Output > 0) {
digitalWrite(LeftMotor1, LOW);
digitalWrite(LeftMotor2, HIGH);
digitalWrite(RightMotor1, LOW);
digitalWrite(RightMotor2, HIGH);
}
else {
digitalWrite(LeftMotor1, LOW);
digitalWrite(LeftMotor2, LOW);
digitalWrite(RightMotor1, LOW);
digitalWrite(RightMotor2, LOW);
}
// 输出调试信息
Serial.print("LeftSensorValue: ");
Serial.print(LeftSensorValue);
Serial.print(", MiddleLeftSensorValue: ");
Serial.print(MiddleLeftSensorValue);
Serial.print(", MiddleSensorValue: ");
Serial.print(MiddleSensorValue);
Serial.print(", MiddleRightSensorValue: ");
Serial.print(MiddleRightSensorValue);
Serial.print(", RightSensorValue: ");
Serial.print(RightSensorValue);
Serial.print(", Error: ");
Serial.print(Error);
Serial.print(", Integral: ");
Serial.print(Integral);
Serial.print(", Derivative: ");
Serial.print(Derivative);
Serial.print(", Output: ");
Serial.println(Output);
// 稍等一段时间
delay(50);
}
```
这个代码中,我们使用了五个传感器来检测小车所在的轨道,然后使用PID算法计算出输出值,控制小车转向,使其保持在轨道上。你可以根据实际情况修改PID参数来获得更好的效果。