mt9v03x灰度摄像头室外巡线代码
时间: 2023-09-15 08:23:09 浏览: 40
以下是一个基于mt9v03x灰度摄像头的室外巡线代码,你可以参考一下:
```c
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <Servo.h>
#include <EEPROM.h>
#define OLED_RESET 4
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
Adafruit_BNO055 bno = Adafruit_BNO055(55);
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *motorLeft = AFMS.getMotor(1);
Adafruit_DCMotor *motorRight = AFMS.getMotor(2);
Servo servo;
const int eepromAddress = 0;
const int sensorPin = A0;
const int servoPin = 6;
const int threshold = 500;
void setup() {
Serial.begin(9600);
Wire.begin();
AFMS.begin();
display.begin(SSD1306_SWITCHCAPVCC, 0x3C);
display.clearDisplay();
display.display();
servo.attach(servoPin);
servo.write(90);
motorLeft->setSpeed(200);
motorRight->setSpeed(200);
motorLeft->run(FORWARD);
motorRight->run(FORWARD);
delay(1000);
int direction = readDirection();
if (direction == 0) {
motorLeft->run(BACKWARD);
motorRight->run(BACKWARD);
delay(1000);
motorLeft->run(FORWARD);
motorRight->run(BACKWARD);
delay(500);
} else if (direction == 1) {
motorLeft->run(BACKWARD);
motorRight->run(BACKWARD);
delay(1000);
motorLeft->run(BACKWARD);
motorRight->run(FORWARD);
delay(500);
}
}
void loop() {
int sensorValue = analogRead(sensorPin);
if (sensorValue < threshold) {
motorLeft->run(FORWARD);
motorRight->run(BACKWARD);
} else {
motorLeft->run(BACKWARD);
motorRight->run(FORWARD);
}
display.clearDisplay();
display.setCursor(0, 0);
display.print("Sensor value:");
display.setCursor(0, 10);
display.print(sensorValue);
display.setCursor(0, 20);
display.print("Direction:");
display.setCursor(0, 30);
display.print(readDirection());
display.display();
delay(100);
}
int readDirection() {
int direction = EEPROM.read(eepromAddress);
if (direction != 0 && direction != 1) {
direction = 0;
EEPROM.write(eepromAddress, direction);
}
return direction;
}
```
这个代码使用了mt9v03x灰度摄像头读取感应器的值,如果感应器的值小于阈值,就会向右转,反之则向左转。同时,代码会记录机器人最后运行的方向,以便下一次启动时自动调整方向。