//============================智宇科技===========================
// 智能小车黑线循、红外避障、遥控综合实验
//===============================================================
//#include <Servo.h>
#include <IRremote.h> //包含红外库 关键点
int RECV_PIN = A4; //端口声明
IRrecv irrecv(RECV_PIN);
decode_results results; //结构声明
int on = 0; //标志位
unsigned long last = millis();
long run_car = 0x00FF629D; //按键CH
long back_car = 0x00FFA857; //按键+
long left_car = 0x00FF22DD; //按键<<
long right_car = 0x00FFC23D; //按键>||
long stop_car = 0x00FF02FD; //按键>>|
long left_turn = 0x00ffE01F; //按键-
long right_turn = 0x00FF906F; //按键EQ
int Left_motor_go = 8; //左电机前进(IN1)
int Left_motor_back = 9; //左电机后退(IN2)
int Right_motor_go = 10; // 右电机前进(IN3)
int Right_motor_back = 11; // 右电机后退(IN4)
#define PORT_KEY A2 //定义按键 数字A2 接口
#define PORT_LED1 7 //定义LED 数字7 接口
#define PORT_LED2 12 //定义LED2 数字12 接口
int beep = A3; //定义蜂鸣器 数字A3 接口
#define KEYMODE_1 1 // 定义按键模式1
#define KEYMODE_2 2 // 定义按键模式2
#define KEYMODE_3 3 // 定义按键模式3
uint8_t keyMode; //指无符号8bit整型数
const int SensorRight = 3; //右循迹红外传感器(P3.2 OUT1)
const int SensorLeft = 4; //左循迹红外传感器(P3.3 OUT2)
const int SensorRight_2 = 5; //中间红外避障传感器()
int SR_2; //中间红外避障传感器状态
int SL; //左循迹红外传感器状态
int SR; //右循迹红外传感器状态
void setup() {
//初始化电机驱动IO为输出方式
pinMode(Left_motor_go, OUTPUT); // PIN 8 (PWM)
pinMode(Left_motor_back, OUTPUT); // PIN 9 (PWM)
pinMode(Right_motor_go, OUTPUT); // PIN 10 (PWM)
pinMode(Right_motor_back, OUTPUT); // PIN 11 (PWM)
pinMode(beep, OUTPUT);
pinMode(SensorRight, INPUT); //定义右循迹红外传感器为输入
pinMode(SensorLeft, INPUT); //定义左循迹红外传感器为输入
pinMode(SensorRight_2, INPUT); //定义右红外传感器为输入
pinMode(13, OUTPUT); ////端口模式，输出
Serial.begin(9600); //波特率9600
irrecv.enableIRIn(); // Start the receiver
KeyScanInit();
LEDInit();
}
//=======================智能小车的基本动作 遥控控制单独用电机驱动函数=========================
// 遥控实验不可调节电机速度，调节pwm值会影响红外的信号接收
void run2() // 前进
{
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
digitalWrite(Left_motor_go, LOW); // 左电机前进
digitalWrite(Left_motor_back, HIGH);
}
void brake2() //刹车，停车
{
digitalWrite(Right_motor_go, LOW);
digitalWrite(Right_motor_back, LOW);
digitalWrite(Left_motor_go, LOW);
digitalWrite(Left_motor_back, LOW);
}
void left2() //左转(左轮不动，右轮前进)
{
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
digitalWrite(Left_motor_go, LOW); //左轮后退
digitalWrite(Left_motor_back, LOW);
}
void spin_left2() //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
digitalWrite(Left_motor_go, HIGH); //左轮后退
digitalWrite(Left_motor_back, LOW);
}
void right2() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go, LOW); //右电机后退
digitalWrite(Right_motor_back, LOW);
digitalWrite(Left_motor_go, LOW); //左电机前进
digitalWrite(Left_motor_back, HIGH);
}
void spin_right2() //右转(右轮后退，左轮前进)
{
digitalWrite(Right_motor_go, LOW); //右电机后退
digitalWrite(Right_motor_back, HIGH);
digitalWrite(Left_motor_go, LOW); //左电机前进
digitalWrite(Left_motor_back, HIGH);
}
void back2() //后退
{
digitalWrite(Right_motor_go, LOW); //右轮后退
digitalWrite(Right_motor_back, HIGH);
digitalWrite(Left_motor_go, HIGH); //左轮后退
digitalWrite(Left_motor_back, LOW);
}
//=======================智能小车的基本动作=========================
//void run(int time) // 前进
void run() {
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
analogWrite(Right_motor_go, 150); //PWM比例0~255调速，左右轮差异略增减
analogWrite(Right_motor_back, 0);
digitalWrite(Left_motor_go, LOW); // 左电机前进
digitalWrite(Left_motor_back, HIGH);
analogWrite(Left_motor_go, 0); //PWM比例0~255调速，左右轮差异略增减
analogWrite(Left_motor_back, 150);
//delay(time * 100); //执行时间，可以调整
}
//void brake(int time) //刹车，停车
void brake() {
digitalWrite(Right_motor_go, LOW);
digitalWrite(Right_motor_back, LOW);
digitalWrite(Left_motor_go, LOW);
digitalWrite(Left_motor_back, LOW);
//delay(time * 100);//执行时间，可以调整
}
//void left(int time) //左转(左轮不动，右轮前进)
void left() {
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
analogWrite(Right_motor_go, 150);
analogWrite(Right_motor_back, 0); //PWM比例0~255调速
digitalWrite(Left_motor_go, LOW); //左轮后退
digitalWrite(Left_motor_back, LOW);
analogWrite(Left_motor_go, 0);
analogWrite(Left_motor_back, 0); //PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_left() //左转(左轮后退，右轮前进)
{
digitalWrite(Right_motor_go, HIGH); // 右电机前进
digitalWrite(Right_motor_back, LOW);
analogWrite(Right_motor_go, 200);
analogWrite(Right_motor_back, 0); //PWM比例0~255调速
digitalWrite(Left_motor_go, HIGH); //左轮后退
digitalWrite(Left_motor_back, LOW);
analogWrite(Left_motor_go, 200);
analogWrite(Left_motor_back, 0); //PWM比例0~255调速
// delay(time * 100); //执行时间，可以调整
}
//void right(int time) //右转(右轮不动，左轮前进)
void right() {
digitalWrite(Right_motor_go, LOW); //右电机后退
digitalWrite(Right_motor_back, LOW);
analogWrite(Right_motor_go, 0);
analogWrite(Right_motor_back, 0); //PWM比例0~255调速
digitalWrite(Left_motor_go, LOW); //左电机前进
digitalWrite(Left_motor_back, HIGH);
analogWrite(Left_motor_go, 0);
analogWrite(Left_motor_back, 150); //PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
void spin_right(int time) //右转(右轮后退，左轮前进)
{
digitalWrite(Right_motor_go, LOW); //右电机后退
digitalWrite(Right_motor_back, HIGH);
analogWrite(Right_motor_go, 0);
analogWrite(Right_motor_back, 200); //PWM比例0~255调速
digitalWrite(Left_motor_go, LOW); //左电机前进
digitalWrite(Left_motor_back, HIGH);
analogWrite(Left_motor_go, 0);
analogWrite(Left_motor_back, 200); //PWM比例0~255调速
delay(time * 100); //执行时间，可以调整
}
//void back(int time) //后退
void back() {
digitalWrite(Right_motor_go, LOW); //右轮后退
digitalWrite(Right_motor_back, HIGH);
//analogWrite(Right_motor_go,0);
// analogWrite(Right_motor_back,200);//PWM比例0~255调速
digitalWrite(Left_motor_go, HIGH); //左轮后退
digitalWrite(Left_motor_back, LOW);
//analogWrite(Left_motor_go,200);
//analogWrite(Left_motor_back,0);//PWM比例0~255调速
//delay(time * 100); //执行时间，可以调整
}
//==========================================================
void dump(decode_results *results) {
int count = results->rawlen;
if (results->decode_type == UNKNOWN) {
//Serial.println("Could not decode message");
brake();
}
}
void IR_IN() //机器人遥控子程序
{
if (irrecv.decode(&results)) //调用库函数：解码
{
// If it's been at least 1/4 second since the last
// IR received, toggle the relay
if (millis() - last > 250) //确定接收到信号
{
on = !on; //标志位置反
digitalWrite(13, on ? HIGH : LOW); //板子上接收到信号闪烁一下led
dump(&results); //解码红外信号
}
if (results.value == run_car) //按键CH
run2(); //前进
if (results.value == back_car) //按键+
back2(); //后退
if (results.value == left_car) //按键<<
left2(); //左转
if (results.value == right_car) //按键>||
right2(); //右转
if (results.value == stop_car) //按键>>|
brake2(); //停车
if (results.value == left_turn) //按键-
spin_left2(); //左旋转
if (results.value == right_turn) //按键EQ
spin_right2(); //右旋转
last = millis();
irrecv.resume(); // Receive the next value
}
}
void Robot_Avoidance() //机器人避障子程序
{
//有信号为LOW 没有信号为HIGH
SR_2 = digitalRead(SensorRight_2);
if (SR_2 == HIGH) //前面没有障碍物
{
run(); //调用前进函数
digitalWrite(beep, LOW); //蜂鸣器不响
//digitalWrite(LED,LOW); //LED不亮
} else if (SR_2 == LOW) // 前面探测到有障碍物，有信号返回，向左转
{
digitalWrite(beep, HIGH); //蜂鸣器响
//digitalWrite(LED,HIGH); //LED亮
brake(); //停止200MS
delay(300);
back(); //后退500MS
delay(400);
left(); //调用左转函数 延时500ms
delay(500);
}
}
void Robot_Traction() //机器人循迹子程序
{
//有信号为LOW 没有信号为HIGH
SR = digitalRead(SensorRight); //有信号表明在白色区域，车子底板上L1亮；没信号表明压在黑线上，车子底板上L1灭
SL = digitalRead(SensorLeft); //有信号表明在白色区域，车子底板上L2亮；没信号表明压在黑线上，车子底板上L2灭
if (SL == LOW && SR == LOW)
run(); //调用前进函数
else if (SL == HIGH & SR == LOW) // 左循迹红外传感器,检测到信号，车子向右偏离轨道，向左转
left();
else if (SR == HIGH & SL == LOW) // 右循迹红外传感器,检测到信号，车子向左偏离轨道，向右转
right();
else // 都是白色, 停止
brake();
}
// 按键处理初始化
void KeyScanInit(void) {
pinMode(PORT_KEY, INPUT_PULLUP); //输入模式，内部上拉。
keyMode = KEYMODE_1;
}
// 任务：按键处理
void KeyScanTask(void) //
{
static uint8_t keypre = 0; //按键被按下时置1.
if ((keypre == 0) && (digitalRead(PORT_KEY) == HIGH)) //按键被按下
{
keypre = 1; //置1，避免持续按下按键时再次进入此函数体。
switch (keyMode) {
case KEYMODE_1:
keyMode = KEYMODE_2; //关键点错位赋值
break;
case KEYMODE_2:
keyMode = KEYMODE_3;
break;
case KEYMODE_3:
keyMode = KEYMODE_1;
break;
default:
break;
}
}
if (digitalRead(PORT_KEY) == LOW) //按键被放开
{
keypre = 0; //置0，允许再次切换LED模式
}
}
// LED初始化
void LEDInit(void) {
pinMode(PORT_LED1, OUTPUT);
pinMode(PORT_LED2, OUTPUT);
digitalWrite(PORT_LED1, LOW);
digitalWrite(PORT_LED2, LOW);
}
// 任务：循迹、避障、遥控模式处理
void LEDTask(void) {
switch (keyMode) {
case KEYMODE_1:
digitalWrite(PORT_LED1, HIGH);
digitalWrite(PORT_LED2, LOW);
Robot_Traction(); //调用循迹子程序
break;
case KEYMODE_2:
digitalWrite(PORT_LED1, LOW);
digitalWrite(PORT_LED2, HIGH);
Robot_Avoidance(); // 调用避障子程序
break;
case KEYMODE_3:
digitalWrite(PORT_LED1, HIGH);
digitalWrite(PORT_LED2, HIGH);
IR_IN(); //调用遥控子程序
break;
default:
break;
}
}
void loop() {
/*while(1)
{
keysacn();//调用按键扫描函数
//Robot_Traction();
//Robot_Avoidance();
//IR_IN();
}*/
KeyScanTask();
LEDTask();
}