两个L298N控制的HC—06蓝牙避障模块小车代码

以下是一个基于两个L298N驱动器和HC-06蓝牙模块的避障小车的代码，使用Arduino IDE编写：

#include <SoftwareSerial.h>

// 初始化软串口，RX为11，TX为10
SoftwareSerial bluetooth(11, 10);

//定义各个引脚
const int leftMotorForward = 9;
const int leftMotorBackward = 8;
const int rightMotorForward = 7;
const int rightMotorBackward = 6;
const int trigPin = 5;
const int echoPin = 4;

//定义测距变量
long duration;
int distance;

void setup() {
  //设置引脚为输出模式
  pinMode(leftMotorForward, OUTPUT);
  pinMode(leftMotorBackward, OUTPUT);
  pinMode(rightMotorForward, OUTPUT);
  pinMode(rightMotorBackward, OUTPUT);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);

  //设置串口速率为9600
  Serial.begin(9600);

  //设置蓝牙串口速率为9600
  bluetooth.begin(9600);
}

void loop() {
  //发射超声波
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  //读取超声波返回的距离
  duration = pulseIn(echoPin, HIGH);
  distance = duration * 0.034 / 2;

  //调试用，输出距离
  Serial.print("Distance: ");
  Serial.println(distance);

  //如果距离小于20cm，后退
  if (distance < 20) {
    digitalWrite(leftMotorForward, LOW);
    digitalWrite(leftMotorBackward, HIGH);
    digitalWrite(rightMotorForward, LOW);
    digitalWrite(rightMotorBackward, HIGH);
  }
  //否则向前走
  else {
    digitalWrite(leftMotorForward, HIGH);
    digitalWrite(leftMotorBackward, LOW);
    digitalWrite(rightMotorForward, HIGH);
    digitalWrite(rightMotorBackward, LOW);
  }

  //检查蓝牙模块是否有数据可用
  if (bluetooth.available()) {
    char command = bluetooth.read();

    //如果收到f，前进
    if (command == 'f') {
      digitalWrite(leftMotorForward, HIGH);
      digitalWrite(leftMotorBackward, LOW);
      digitalWrite(rightMotorForward, HIGH);
      digitalWrite(rightMotorBackward, LOW);
    }
    //如果收到b，后退
    else if (command == 'b') {
      digitalWrite(leftMotorForward, LOW);
      digitalWrite(leftMotorBackward, HIGH);
      digitalWrite(rightMotorForward, LOW);
      digitalWrite(rightMotorBackward, HIGH);
    }
    //如果收到l，左转
    else if (command == 'l') {
      digitalWrite(leftMotorForward, LOW);
      digitalWrite(leftMotorBackward, HIGH);
      digitalWrite(rightMotorForward, HIGH);
      digitalWrite(rightMotorBackward, LOW);
    }
    //如果收到r，右转
    else if (command == 'r') {
      digitalWrite(leftMotorForward, HIGH);
      digitalWrite(leftMotorBackward, LOW);
      digitalWrite(rightMotorForward, LOW);
      digitalWrite(rightMotorBackward, HIGH);
    }
    //如果收到s，停止
    else if (command == 's') {
      digitalWrite(leftMotorForward, LOW);
      digitalWrite(leftMotorBackward, LOW);
      digitalWrite(rightMotorForward, LOW);
      digitalWrite(rightMotorBackward, LOW);
    }
  }
}

请注意，这只是一个示例代码，并且可能需要根据您的硬件配置进行修改。此外，此代码只提供了基本的避障和控制功能，您可能需要添加更多的功能以满足您的需求。