arduino循迹小车经过一个区域停车再启动的编程程序
时间: 2024-02-22 13:58:09 浏览: 19
以下是一个简单的Arduino循迹小车经过一个区域停车再启动的编程程序,供您参考:
```C++
#define leftMotor1 3 //左电机1号引脚
#define leftMotor2 5 //左电机2号引脚
#define rightMotor1 6 //右电机1号引脚
#define rightMotor2 9 //右电机2号引脚
#define sensor1 A0 //左侧循迹传感器引脚
#define sensor2 A1 //中间循迹传感器引脚
#define sensor3 A2 //右侧循迹传感器引脚
#define stopArea 100 //停车区域阈值
void setup() {
pinMode(leftMotor1, OUTPUT);
pinMode(leftMotor2, OUTPUT);
pinMode(rightMotor1, OUTPUT);
pinMode(rightMotor2, OUTPUT);
pinMode(sensor1, INPUT);
pinMode(sensor2, INPUT);
pinMode(sensor3, INPUT);
}
void loop() {
int leftSensor = analogRead(sensor1);
int middleSensor = analogRead(sensor2);
int rightSensor = analogRead(sensor3);
if (middleSensor < stopArea) { //中间传感器检测到黑线
stopCar(); //停车
delay(2000); //等待2秒
startCar(); //启动车辆
} else { //中间传感器未检测到黑线
if (leftSensor < stopArea) { //左侧传感器检测到黑线
turnLeft(); //左转
} else if (rightSensor < stopArea) { //右侧传感器检测到黑线
turnRight(); //右转
} else { //所有传感器未检测到黑线
forward(); //直行
}
}
}
void forward() {
digitalWrite(leftMotor1, HIGH);
digitalWrite(leftMotor2, LOW);
digitalWrite(rightMotor1, HIGH);
digitalWrite(rightMotor2, LOW);
}
void turnLeft() {
digitalWrite(leftMotor1, LOW);
digitalWrite(leftMotor2, HIGH);
digitalWrite(rightMotor1, HIGH);
digitalWrite(rightMotor2, LOW);
}
void turnRight() {
digitalWrite(leftMotor1, HIGH);
digitalWrite(leftMotor2, LOW);
digitalWrite(rightMotor1, LOW);
digitalWrite(rightMotor2, HIGH);
}
void stopCar() {
digitalWrite(leftMotor1, LOW);
digitalWrite(leftMotor2, LOW);
digitalWrite(rightMotor1, LOW);
digitalWrite(rightMotor2, LOW);
}
void startCar() {
digitalWrite(leftMotor1, HIGH);
digitalWrite(leftMotor2, LOW);
digitalWrite(rightMotor1, HIGH);
digitalWrite(rightMotor2, LOW);
}
```
以上是一个简单的程序,程序中定义了循迹小车的引脚和变量。在`void loop()`函数中,先读取左侧、中间、右侧循迹传感器的值,判断传感器的值是否小于设定的停车阈值。如果中间传感器检测到黑线,则停车2秒后重新启动。否则,根据左侧和右侧传感器的值控制循迹小车左转、右转或直行,直到中间传感器检测到黑线为止。
需要注意的是,以上程序仅供参考,具体实现需要根据您的具体情况进行调整和完善。