ArduinoLearning/moveTrack.ino at master · TuringCodeOne/ArduinoLearning · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
intLSPEED = 5; //左轮转速
intRSPEED = 6; //右轮转速
intLDIR = 4; //左轮方向
intRDIR = 7; //右轮方向
char onspeed =100; //启动速度
int ontime=1000; //启动时间
bool bstop=false;
int grayscalePinL=A2;
int grayscalePinM=A3;
int grayscalePinR=A4;

char start_msg[15] = {
"Start loop "};
int adc_key_val[5] ={
30, 150, 360, 535, 760 };
intNUM_KEYS = 5;
int adc_key_in;
int key=-1;
int oldkey=-1;
voidstop(void){ //停止
analogWrite (LSPEED,0);
analogWrite (RSPEED,0);
}

voidadvance(char a,char b){ //前进
analogWrite (LSPEED,a); //PWM调速
digitalWrite(LDIR,HIGH);
analogWrite (RSPEED,b);
digitalWrite(RDIR,HIGH);
}
voidback_off (char a,char b) { //后退
analogWrite (LSPEED,a);
digitalWrite(LDIR,LOW);
analogWrite (RSPEED,b);
digitalWrite(RDIR,LOW);
}
voidturn_L (char a,char b) { //左转
analogWrite (LSPEED,a);
digitalWrite(LDIR,LOW);
analogWrite (RSPEED,b);
digitalWrite(RDIR,HIGH);
}
voidturn_R (char a,char b) { //右转
analogWrite (LSPEED,a);
digitalWrite(LDIR,HIGH);
analogWrite (RSPEED,b);
digitalWrite(RDIR,LOW);
}

voidsetup(void) {
int i;
pinMode(LDIR, OUTPUT);
pinMode(RDIR, OUTPUT);
pinMode(grayscalePinL,INPUT);
pinMode(grayscalePinM,INPUT);
pinMode(grayscalePinR,INPUT);

 Serial.begin(19200); //设置串口波特率
 Serial.println("w,s,a,d");
}
voidloop()
{
staticchar x=0;
char valL,valM,valR;
if(!bstop)
 {
 valL=digitalRead(grayscalePinL);
 valM=digitalRead(grayscalePinM);
 valR=digitalRead(grayscalePinR);

if((valL==0)&&valM&&valR)
 {
//speed
turn_L(onspeed,onspeed); //检测到左边传感器遇到黑线，说明小车右偏了，立即往左转一点
delay(2);
while(1){
 valM=digitalRead(grayscalePinM); //循环判断中间传感器度数，
if(valM==1){
turn_L(onspeed,onspeed); //如果num2==1说明还没有转到中间位置，继续左转
delay(2);
 }
else
break; //检测到num2==0说明转过头了，跳出循环，检测三个传感器的状态再做出相应动作
 } //后面道理相同
 }
elseif(valM&&valL&&(valR==0))
 {
turn_R(onspeed,onspeed);
delay(2);
while(1){
 valM=digitalRead(grayscalePinM);
if(valM==1){
turn_R(onspeed,onspeed);
delay(2);}
else
break;
 }
 }
else
 {
advance(onspeed,onspeed);
delay(2);
 }
 }
else
stop();
 adc_key_in = analogRead(7); // read the value from the sensor
 key = get_key(adc_key_in); // convert into key press
if (key != oldkey) { // if keypress is detected
delay(50); // wait for debounce time
 adc_key_in = analogRead(7); // read the value from the sensor
 key = get_key(adc_key_in); // convert into key press
if (key != oldkey) {
 oldkey = key;
carmove(key);
 }
 }
//digitalWrite(13, LOW);
}
// Convert ADC value to key number
intget_key(unsignedint input)
{
int k;
for (k = 0; k < NUM_KEYS; k++)
 {
if (input < adc_key_val[k])
 {
return k;
 }
 }
if (k >= NUM_KEYS)
 k = -1; // No valid key pressed
return k;
}
voidcarmove(char val) {
/* if(val!=-1){
 switch(val){
 case 0://前进
 advance (onspeed,onspeed); //PWM调速
 break;
 case 2://后退
 back_off (onspeed,onspeed);
 break;
 case 1://左转
 turn_L (onspeed,onspeed);
 break;
 case 3://右转
 turn_R (onspeed,onspeed);
 break;
 }
 delay(ontime);
 stop();
 }
 else stop();
*/
if(val!=-1)
 {
 bstop=!bstop;
 }
}