Arduion蓝牙避障智能小车代码

以下是一个简单的 Arduino 蓝牙避障智能小车代码，需要使用 HC-05 蓝牙模块：

#include <SoftwareSerial.h>

SoftwareSerial BTSerial(2, 3); // 设置蓝牙模块的 RX 和 TX 引脚

int leftMotorPin1 = 9;
int leftMotorPin2 = 10;
int rightMotorPin1 = 5;
int rightMotorPin2 = 6;
int triggerPin = 7;
int echoPin = 8;
long duration, distance;

void setup() {
  pinMode(leftMotorPin1, OUTPUT);
  pinMode(leftMotorPin2, OUTPUT);
  pinMode(rightMotorPin1, OUTPUT);
  pinMode(rightMotorPin2, OUTPUT);
  pinMode(triggerPin, OUTPUT);
  pinMode(echoPin, INPUT);
  BTSerial.begin(9600);
}

void loop() {
  if (BTSerial.available()) {
    char command = BTSerial.read();
    if (command == 'F') {
      forward();
    }
    else if (command == 'B') {
      backward();
    }
    else if (command == 'L') {
      left();
    }
    else if (command == 'R') {
      right();
    }
    else if (command == 'S') {
      stop();
    }
  }
  distance = measureDistance();
  if (distance < 15) {
    stop();
    backward();
    delay(500);
    left();
    delay(1000);
  }
}

void forward() {
  digitalWrite(leftMotorPin1, HIGH);
  digitalWrite(leftMotorPin2, LOW);
  digitalWrite(rightMotorPin1, HIGH);
  digitalWrite(rightMotorPin2, LOW);
}

void backward() {
  digitalWrite(leftMotorPin1, LOW);
  digitalWrite(leftMotorPin2, HIGH);
  digitalWrite(rightMotorPin1, LOW);
  digitalWrite(rightMotorPin2, HIGH);
}

void left() {
  digitalWrite(leftMotorPin1, LOW);
  digitalWrite(leftMotorPin2, HIGH);
  digitalWrite(rightMotorPin1, HIGH);
  digitalWrite(rightMotorPin2, LOW);
}

void right() {
  digitalWrite(leftMotorPin1, HIGH);
  digitalWrite(leftMotorPin2, LOW);
  digitalWrite(rightMotorPin1, LOW);
  digitalWrite(rightMotorPin2, HIGH);
}

void stop() {
  digitalWrite(leftMotorPin1, LOW);
  digitalWrite(leftMotorPin2, LOW);
  digitalWrite(rightMotorPin1, LOW);
  digitalWrite(rightMotorPin2, LOW);
}

long measureDistance() {
  digitalWrite(triggerPin, LOW);
  delayMicroseconds(2);
  digitalWrite(triggerPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(triggerPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  return duration * 0.034 / 2;
}

该代码使用了 HC-SR04 超声波距离传感器和 L298N 驱动器来控制车轮。当距离传感器检测到障碍物时，车辆会向后移动并向左转。可以通过 Bluetooth 应用程序向小车发送命令，如前进、后退、左转、右转或停止。