arduino避障循迹小车代码 用到有hc-sr04超声波测距模块和五路红外循迹模块

以下是一个基于Arduino的避障循迹小车的代码，其中包含了HC-SR04超声波测距模块和五路红外循迹模块的使用：

// 引入需要使用的库
#include <NewPing.h>

// HC-SR04超声波测距模块的引脚定义
#define TRIGGER_PIN  12
#define ECHO_PIN     11
#define MAX_DISTANCE 200

// 五路红外循迹模块的引脚定义
#define IR1  2
#define IR2  3
#define IR3  4
#define IR4  5
#define IR5  6

// 定义小车的左右电机引脚
#define LEFT_MOTOR_PIN1  7
#define LEFT_MOTOR_PIN2  8
#define RIGHT_MOTOR_PIN1 9
#define RIGHT_MOTOR_PIN2 10

// 定义小车的运行状态
enum State {
  OBSTACLE_AVOIDANCE,
  LINE_FOLLOWING
};

// 创建一个NewPing对象，用于超声波测距
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

// 初始化小车的左右电机
void setupMotors() {
  pinMode(LEFT_MOTOR_PIN1, OUTPUT);
  pinMode(LEFT_MOTOR_PIN2, OUTPUT);
  pinMode(RIGHT_MOTOR_PIN1, OUTPUT);
  pinMode(RIGHT_MOTOR_PIN2, OUTPUT);
}

// 控制小车的左轮电机
void setLeftMotor(int direction, int speed) {
  switch (direction) {
    case 1:
      digitalWrite(LEFT_MOTOR_PIN1, HIGH);
      digitalWrite(LEFT_MOTOR_PIN2, LOW);
      break;
    case -1:
      digitalWrite(LEFT_MOTOR_PIN1, LOW);
      digitalWrite(LEFT_MOTOR_PIN2, HIGH);
      break;
    default:
      digitalWrite(LEFT_MOTOR_PIN1, LOW);
      digitalWrite(LEFT_MOTOR_PIN2, LOW);
  }
  analogWrite(LEFT_MOTOR_PIN1, speed);
}

// 控制小车的右轮电机
void setRightMotor(int direction, int speed) {
  switch (direction) {
    case 1:
      digitalWrite(RIGHT_MOTOR_PIN1, HIGH);
      digitalWrite(RIGHT_MOTOR_PIN2, LOW);
      break;
    case -1:
      digitalWrite(RIGHT_MOTOR_PIN1, LOW);
      digitalWrite(RIGHT_MOTOR_PIN2, HIGH);
      break;
    default:
      digitalWrite(RIGHT_MOTOR_PIN1, LOW);
      digitalWrite(RIGHT_MOTOR_PIN2, LOW);
  }
  analogWrite(RIGHT_MOTOR_PIN1, speed);
}

// 将小车的左右电机都停止
void stopMotors() {
  setLeftMotor(0, 0);
  setRightMotor(0, 0);
}

// 检测小车前方是否有障碍物
bool obstacleDetected() {
  delay(50);
  int distance = sonar.ping_cm();
  return (distance < 20);
}

// 将小车切换到避障状态
void switchToObstacleAvoidance() {
  stopMotors();
  delay(1000);
  setLeftMotor(1, 100);
  setRightMotor(1, 100);
  delay(1000);
  stopMotors();
}

// 将小车切换到循迹状态
void switchToLineFollowing() {
  stopMotors();
  delay(1000);
  setLeftMotor(1, 100);
  setRightMotor(-1, 100);
  delay(1000);
  stopMotors();
}

// 将小车的左右电机控制为按照红外循迹模块的状态行驶
void followLine(int ir1, int ir2, int ir3, int ir4, int ir5) {
  int leftSpeed = 100;
  int rightSpeed = 100;

  if (ir1 == LOW && ir2 == LOW && ir3 == HIGH && ir4 == LOW && ir5 == LOW) {
    leftSpeed = 80;
    rightSpeed = 120;
  } else if (ir1 == LOW && ir2 == HIGH && ir3 == HIGH && ir4 == LOW && ir5 == LOW) {
    leftSpeed = 100;
    rightSpeed = 100;
  } else if (ir1 == LOW && ir2 == HIGH && ir3 == LOW && ir4 == LOW && ir5 == LOW) {
    leftSpeed = 120;
    rightSpeed = 80;
  } else if (ir1 == LOW && ir2 == HIGH && ir3 == LOW && ir4 == HIGH && ir5 == LOW) {
    leftSpeed = 100;
    rightSpeed = 100;
  } else if (ir1 == LOW && ir2 == HIGH && ir3 == HIGH && ir4 == HIGH && ir5 == LOW) {
    leftSpeed = 100;
    rightSpeed = 100;
  } else if (ir1 == LOW && ir2 == LOW && ir3 == HIGH && ir4 == LOW && ir5 == LOW) {
    leftSpeed = 80;
    rightSpeed = 120;
  } else if (ir1 == LOW && ir2 == LOW && ir3 == LOW && ir4 == HIGH && ir5 == LOW) {
    leftSpeed = 100;
    rightSpeed = 100;
  } else if (ir1 == LOW && ir2 == LOW && ir3 == HIGH && ir4 == HIGH && ir5 == LOW) {
    leftSpeed = 100;
    rightSpeed = 100;
  } else if (ir1 == LOW && ir2 == LOW && ir3 == LOW && ir4 == LOW && ir5 == LOW) {
    leftSpeed = 0;
    rightSpeed = 0;
  }

  setLeftMotor((leftSpeed > 0) ? 1 : -1, abs(leftSpeed));
  setRightMotor((rightSpeed > 0) ? 1 : -1, abs(rightSpeed));
}

void setup() {
  // 初始化串口通信
  Serial.begin(9600);

  // 初始化小车的左右电机
  setupMotors();
}

void loop() {
  // 检测小车是否需要切换状态
  if (obstacleDetected()) {
    switchToObstacleAvoidance();
  } else {
    switchToLineFollowing();
  }

  // 读取红外循迹模块的状态
  int ir1 = digitalRead(IR1);
  int ir2 = digitalRead(IR2);
  int ir3 = digitalRead(IR3);
  int ir4 = digitalRead(IR4);
  int ir5 = digitalRead(IR5);

  // 控制小车按照红外循迹模块的状态行驶
  followLine(ir1, ir2, ir3, ir4, ir5);

  // 输出调试信息
  Serial.print(ir1);
  Serial.print(ir2);
  Serial.print(ir3);
  Serial.print(ir4);
  Serial.println(ir5);
}

需要注意的是，上述代码只是一个示例，具体实现可能会因为硬件设备的不同而有所差异。在使用时，请根据自己的实际情况对代码进行调整和修改。