避障加蓝牙小车代码

以下是一个简单的避障加蓝牙小车的代码示例，使用Arduino编写：

#include <SoftwareSerial.h>
SoftwareSerial BTserial(2, 3); //定义蓝牙串口

int leftMotor1 = 6; //定义左电机引脚
int leftMotor2 = 7;
int rightMotor1 = 8; //定义右电机引脚
int rightMotor2 = 9;

int irSensor = A0; //定义红外线传感器引脚
int distanceLimit = 20; //定义避障距离阈值

void setup() {
  pinMode(leftMotor1, OUTPUT); //设置电机引脚为输出模式
  pinMode(leftMotor2, OUTPUT);
  pinMode(rightMotor1, OUTPUT);
  pinMode(rightMotor2, OUTPUT);
  pinMode(irSensor, INPUT); //设置红外线传感器引脚为输入模式

  BTserial.begin(9600); //初始化蓝牙串口
}

void loop() {
  int distance = analogRead(irSensor); //读取红外线传感器数值
  if (distance > distanceLimit) { //如果检测到前方无障碍物
    digitalWrite(leftMotor1, HIGH); //左电机正转
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, HIGH); //右电机正转
    digitalWrite(rightMotor2, LOW);
  } else { //如果检测到前方有障碍物
    digitalWrite(leftMotor1, LOW); //左电机停止
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, LOW); //右电机停止
    digitalWrite(rightMotor2, LOW);
  }

  if (BTserial.available()) { //如果蓝牙串口有数据
    char cmd = BTserial.read(); //读取指令
    if (cmd == 'F') { //前进
      digitalWrite(leftMotor1, HIGH); //左电机正转
      digitalWrite(leftMotor2, LOW);
      digitalWrite(rightMotor1, HIGH); //右电机正转
      digitalWrite(rightMotor2, LOW);
    } else if (cmd == 'B') { //后退
      digitalWrite(leftMotor1, LOW); //左电机反转
      digitalWrite(leftMotor2, HIGH);
      digitalWrite(rightMotor1, LOW); //右电机反转
      digitalWrite(rightMotor2, HIGH);
    } else if (cmd == 'L') { //左转
      digitalWrite(leftMotor1, LOW); //左电机反转
      digitalWrite(leftMotor2, HIGH);
      digitalWrite(rightMotor1, HIGH); //右电机正转
      digitalWrite(rightMotor2, LOW);
    } else if (cmd == 'R') { //右转
      digitalWrite(leftMotor1, HIGH); //左电机正转
      digitalWrite(leftMotor2, LOW);
      digitalWrite(rightMotor1, LOW); //右电机反转
      digitalWrite(rightMotor2, HIGH);
    } else if (cmd == 'S') { //停止
      digitalWrite(leftMotor1, LOW); //左电机停止
      digitalWrite(leftMotor2, LOW);
      digitalWrite(rightMotor1, LOW); //右电机停止
      digitalWrite(rightMotor2, LOW);
    }
  }
}

这段代码实现了基本的避障功能和蓝牙控制功能。在遇到障碍物时，小车会停止运动；在蓝牙控制下，可以实现小车的前进、后退、左转、右转和停止等操作。需要注意的是，这只是一个简单的示例代码，实际应用中需要根据具体需求进行修改和完善。