基於Arduino開發的智能小車

時間 2020-06-02

標籤基於 arduino 開發智能小車简体版

原文原文鏈接

1、概述

1. 設計內容

（1）智能小車自動運行（先後走，左右轉）html

（2）藍牙控制、遙控器控制、無線手柄控制python

（3）循跡、避障git

（4）視覺編程

（5）裝飾：音樂播放器json

2.材料清單

材料	數量
Arduino主控板	1
車輪	2
直流電機	2
L298N	1
紅外循跡模塊	1
超聲波模塊	1
紅外接收器	1
紅外遙控器	1
無線手柄及接收器	1
麪包板	1
杜邦線	若干
電池盒	1
充電鋰電池3.7v	2
開關	2
萬向輪	1
銅柱	4
鏈接螺絲螺母	若干
電工工具（電烙鐵、剝線鉗、電工膠帶）	1
機械工具（錐、鉗、卡尺、熱熔槍）	1
藍牙模塊	1
蜂鳴器	1
OpenMV	1

3.掌握的內容

　　（1）Arduino控制板引腳、連線及編程ide

　　（2）電機驅動板L298N連線及編程函數

　　（3）傳感器模塊的連線及使用，包括紅外避障、紅外循跡、超聲波避障、數碼管速度顯示、OPENMV視覺捕捉、語音識別模塊、音樂播放、工具

　　（4）無線通訊及遙控：藍牙模塊、WiFi模塊、紅外遙控、無線手柄、GPS定位。oop

2、小車組裝

　　小車實物圖如圖1所示，按照圖示鏈接安裝post

圖1 實物鏈接圖

3、控制元件搭建

1.電機驅動板L298N連線

圖2 L298N電路板圖

　　圖中，通道A和通道B分別鏈接電機的兩端（兩端無方向性，關乎電機正反轉）；電源正負極分別接到圖示主電源正負極（≤5V接到5V輸入，≥5V接到12V）；A、B相使能端靠外接線端接入三、五、六、九、十、11等任意兩個接線端帶~的接線端，此處接到D10 D11，靠內一側的兩個引腳懸空或接5V連線端；1，2，3，4輸入端分別接入數字端口D4 D5 D6 D7。

2.電源連線

　電池盒放入兩節2×3.4V的可充電鋰電池，將正極線（紅色）鏈接到開關一端，另外一端連入麪包板正極列，正極列連入圖2電源正極端（12V或5V）和Arduino的VIN端；GND接到麪包板負極，電源負極端連入麪包板負極的同一列。

圖3 電源鏈接線

3.傳感器件連線

（1）超聲波接線端

圖4 超聲波實物圖

　　VCC接5V，GND接GND，TRIG接2 ECHO接3

（2）藍牙模塊連線

　　VCC接5V，GND接GND，TX接RX，RX接TX

（3）紅外遙控連線

　　-接GND，+接5V，S接信號端，此處接D8

（4）紅外循跡模塊

　　四路循跡分別接到循跡主控板上，VCC接主控板5V，GND接主控板GND，OUT1~OUT4分別接到A0-A3

　　調節方式：將循跡模塊置於軌跡上，令四路模塊依次檢測軌跡與非軌跡部分，並經過調節所在位置的電位器，使得指示燈在檢測到軌跡時滅，未檢測到軌跡時亮便可，而後經過串口通訊端讀取值，替換到程序中。

（5）舵機雲臺

　　棕色接GND，紅色接5V，橙色接信號線，此處接D9

（6）OPENMV

　　 P4接A4，P5接A5，VCC接5V，GND接GND

（7）蜂鳴器

　　 VCC接5V，GND接GND，I/O接D12

4、編程實現

1. 藍牙AT模式設置

　　按住藍牙模塊黑色按鈕，而後再接通電源，藍牙以一秒間隔閃滅

　　將下面程序串燒到Arduino中，打開串口監視器，觀察串口輸出，顯示OK即爲成功設置

　　斷電，再次上電，當藍牙不斷閃爍時，開始正常工做

void setup() { // put your setup code here, to run once:
  Serial.begin(38400); } void sendcmd() { Serial.println("AT"); while(Serial.available()) { char ch; ch = Serial.read(); Serial.print(ch); } // Get response: OK
  delay(1000); // wait for printing 
 Serial.println("AT+NAME=Sonny"); while(Serial.available()) { char ch; ch = Serial.read(); Serial.print(ch); } delay(1000); Serial.println("AT+ADDR?"); while(Serial.available()) { char ch; ch = Serial.read(); Serial.print(ch); } delay(1000); Serial.println("AT+PSWD=2113"); while(Serial.available()) { char ch; ch = Serial.read(); Serial.print(ch); } delay(1000); /*Serial.println("AT+PSWD?"); while(Serial.available()) { char ch; ch = Serial.read(); Serial.print(ch); } delay(1000);*/ } void loop() { sendcmd(); }

2. 電機PWM驅動程序

int Left_motor_back=4;     //左電機後退(IN1)
int Left_motor_go=5;     //左電機前進(IN2)
int Right_motor_go=6;    // 右電機前進(IN3)
int Right_motor_back=7;    // 右電機後退(IN4)
int ENA=10; int ENB=11;int i; void setup() { //初始化電機驅動IO爲輸出方式
  pinMode(Left_motor_go,OUTPUT); // PIN 4 (PWM)
  pinMode(Left_motor_back,OUTPUT); // PIN 5 (PWM)
  pinMode(Right_motor_go,OUTPUT);// PIN 6 (PWM) 
  pinMode(Right_motor_back,OUTPUT);// PIN 7 (PWM)
 pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT);
}

void Run()     // 前進
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH); // 左電機前進
 digitalWrite(Left_motor_back,LOW);
　digitalWrite(ENA,HIGH);
 digitalWrite(ENB,HIGH);
 } void Break()         //剎車，停車
{ digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); } void left()         //左轉(左輪不動，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪不動
 digitalWrite(Left_motor_back,LOW); } void spin_left()         //左轉(左輪後退，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); } void right()        //右轉(右輪不動，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機不動
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); } void spin_right()        //右轉(右輪後退，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); } void back()          //後退
{ digitalWrite(Right_motor_go,LOW); //右輪後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); } 

void loop(
 Run(); }

3.紅外遙控程序

#include <IRremote.h>
int RECV_PIN = 8; IRrecv irrecv(RECV_PIN); decode_results results;//結構聲明 //==============================
int Left_motor_back=4;     //左電機後退(IN1)
int Left_motor_go=5;     //左電機前進(IN2)
int Right_motor_go=6;    // 右電機前進(IN3)
int Right_motor_back=7;    // 右電機後退(IN4)
int ENA=10; int ENB=11; void setup() { //初始化電機驅動IO爲輸出方式
  pinMode(Left_motor_go,OUTPUT); // PIN 5 (PWM)
  pinMode(Left_motor_back,OUTPUT); // PIN 6 (PWM)
  pinMode(Right_motor_go,OUTPUT);// PIN 9 (PWM) 
  pinMode(Right_motor_back,OUTPUT);// PIN 10 (PWM)
  pinMode(ENA, OUTPUT);////端口模式，輸出
  pinMode(ENB, OUTPUT);////端口模式，輸出
  Serial.begin(9600);   //波特率9600
  irrecv.enableIRIn(); // Start the receiver
} void back()     // 前進
{ digitalWrite(Right_motor_go,LOW); // 右電機前進
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH); // 左電機前進
 digitalWrite(Left_motor_back,LOW); digitalWrite(ENA,HIGH); digitalWrite(ENB,HIGH); } void brake()         //剎車，停車
{ digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); } void right()         //左轉(左輪不動，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪不動
 digitalWrite(Left_motor_back,LOW); } void spin_left()         //左轉(左輪後退，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); } void left()        //右轉(右輪不動，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機不動
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); } void spin_right()        //右轉(右輪後退，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); } void run()          //後退
{ digitalWrite(Right_motor_go,HIGH); //右輪後退
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); } void read_key() { if(irrecv.decode(&results)){  //若是接收到信息
        Serial.print("code:"); Serial.println(results.value,HEX);//results.value爲16進制,unsigned long
        Serial.print("bits:"); Serial.println(results.bits);//輸出元位數
 irrecv.resume(); } } void loop() { read_key(); if(irrecv.decode(&results)){  //若是接收到信息
   switch(results.value){ case 0xFF18E7:  //前,對應2
 run(); break; case 0xFF4AB5:  //後，對應8
 back(); break; case 0xFF10EF:  //左，對應4
 left(); break; case 0xFF5AA5:  //右，對應6
 right(); break; case 0xFF38C7:  //中止，對應5
 brake(); break; default: break; } irrecv.resume(); } }

4.藍牙控制

#include <IRremote.h>//紅外遙控庫函數
#define BAUD_RATE 9600
int RECV_PIN = 8;//紅外接收端口
IRrecv irrecv(RECV_PIN); decode_results results;//結構聲明
char mode = 'I';  //設置小車運行模式，默認紅外模式
int Left_motor_back=4;     //左電機後退(IN1)
int Left_motor_go=5;     //左電機前進(IN2)
int Right_motor_go=6;    // 右電機前進(IN3)
int Right_motor_back=7;    // 右電機後退(IN4)
int ENA = 10;      //PWM輸入A
int ENB = 11;      //PWM輸入B
int speed_default = 100;    //0-255之間,小車最低速度爲70，最佳速度爲100
char ch; bool inverse_left=false; bool inverse_right=false; void setup() { //初始化電機驅動IO爲輸出方式
  pinMode(Left_motor_go,OUTPUT); // PIN 5 (PWM)
  pinMode(Left_motor_back,OUTPUT); // PIN 6 (PWM)
  pinMode(Right_motor_go,OUTPUT);// PIN 7 (PWM) 
  pinMode(Right_motor_back,OUTPUT);// PIN 8 (PWM)
 pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); Serial.begin(BAUD_RATE); //波特率9600
  irrecv.enableIRIn(); // Start the receiver
  delay(1000); // 給OpenMV一個啓動的時間
} void read_key() { if(irrecv.decode(&results)){  //若是接收到信息
        Serial.print("code:"); Serial.println(results.value,HEX);//results.value爲16進制,unsigned long
        Serial.print("bits:"); Serial.println(results.bits);//輸出元位數
 irrecv.resume(); } } void back()     // 前進
{ digitalWrite(Right_motor_go,LOW); // 右電機前進
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH); // 左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void Break()         //剎車，停車
{ digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void right()         //左轉(左輪不動，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪不動
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void spin_left()         //左轉(左輪後退，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void left()        //右轉(右輪不動，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機不動
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void spin_right()        //右轉(右輪後退，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void Run()          //後退
{ digitalWrite(Right_motor_go,LOW); //右輪後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void loop() { if(Serial.available()>0){ char ch = Serial.read(); Serial.println(ch); if(ch == '1'){ //前進
 Run(); Serial.print("forward"); }else if(ch == '2'){ //後退
 back(); Serial.print("backward"); }else if(ch == '3'){ //左轉
 left(); Serial.print("turnLeft"); }else if(ch == '4'){ //右轉
 right(); Serial.print("turnRight"); }else if(ch=='0'){ //停車
 Break(); Serial.print("stop"); } } }

5.藍牙與紅外遙控的切換

#include <IRremote.h>//紅外遙控庫函數
#define BAUD_RATE 9600
int RECV_PIN = 8;//紅外接收端口
IRrecv irrecv(RECV_PIN); decode_results results;//結構聲明
char mode = 'I';  //設置小車運行模式，默認紅外模式
int Left_motor_back=4;     //左電機後退(IN1)
int Left_motor_go=5;     //左電機前進(IN2)
int Right_motor_go=6;    // 右電機前進(IN3)
int Right_motor_back=7;    // 右電機後退(IN4)
int ENA = 10;      //PWM輸入A
int ENB = 11;      //PWM輸入B
int speed_default = 100;    //0-255之間,小車最低速度爲70，最佳速度爲100
char ch; bool inverse_left=false; bool inverse_right=false; void setup() { //初始化電機驅動IO爲輸出方式
  pinMode(Left_motor_go,OUTPUT); // PIN 5 (PWM)
  pinMode(Left_motor_back,OUTPUT); // PIN 6 (PWM)
  pinMode(Right_motor_go,OUTPUT);// PIN 7 (PWM) 
  pinMode(Right_motor_back,OUTPUT);// PIN 8 (PWM)
 pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); Serial.begin(BAUD_RATE); //波特率9600
  irrecv.enableIRIn(); // Start the receiver
  delay(1000); // 給OpenMV一個啓動的時間
} void read_key() { if(irrecv.decode(&results)){  //若是接收到信息
        Serial.print("code:"); Serial.println(results.value,HEX);//results.value爲16進制,unsigned long
        Serial.print("bits:"); Serial.println(results.bits);//輸出元位數
 irrecv.resume(); } } void back()     // 前進
{ digitalWrite(Right_motor_go,LOW); // 右電機前進
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH); // 左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void Break()         //剎車，停車
{ digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void right()         //左轉(左輪不動，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪不動
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void spin_left()         //左轉(左輪後退，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void left()        //右轉(右輪不動，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機不動
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void spin_right()        //右轉(右輪後退，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void Run()          //後退
{ digitalWrite(Right_motor_go,LOW); //右輪後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void loop() { if(Serial.available()>0){ ch = Serial.read(); Serial.println(ch); if(ch == 'I'){ //紅外模式
        mode = 'I'; } if(ch == 'B'){ //藍牙模式
        mode = 'B'; } } if(mode == 'I'){     //紅外模式控制代碼
    Serial.println("IRremote Mode"); read_key(); if(irrecv.decode(&results)){  //若是接收到信息
 Serial.println(results.value); switch(results.value){ case 0xFF18E7:  //前,對應2
 Run(); break; case 0xFF4AB5:  //後，對應8
 back(); break; case 0xFF10EF:  //左，對應4
 left(); break; case 0xFF5AA5:  //右，對應6
 right(); break; case 0xFF38C7:  //中止，對應5
 Break(); break; default: break; } irrecv.resume(); } } if(mode == 'B'){   //藍牙模式控制代碼
    Serial.println("Blue Mode"); char ch1 = '0'; if(ch == '1'){ //前進
 Run(); Serial.print("forward"); }else if(ch == '2'){ //後退
 back(); Serial.print("backward"); }else if(ch == '3'){ //左轉
 left(); Serial.print("turnLeft"); }else if(ch == '4'){ //右轉
 right(); Serial.print("turnRight"); }else if(ch=='0'){ //停車
 Break(); Serial.print("stop"); }
}

6.紅外循跡

#define L1 A0
#define L2 A1
#define L3 A2
#define L4 A3
int Left_motor_back=4;     //左電機後退(IN1)
int Left_motor_go=5;     //左電機前進(IN2)
int Right_motor_go=6;    // 右電機前進(IN3)
int Right_motor_back=7;    // 右電機後退(IN4)
int ENA = 10;      //PWM輸入A
int ENB = 11;      //PWM輸入B
int speed_default = 100;    //0-255之間,小車最低速度爲70，最佳速度爲100
char ch; bool inverse_left=false; bool inverse_right=false; int a; int b; int c; int d; void setup() { //初始化電機驅動IO爲輸出方式
  pinMode(Left_motor_go,OUTPUT); // PIN 5 (PWM)
  pinMode(Left_motor_back,OUTPUT); // PIN 6 (PWM)
  pinMode(Right_motor_go,OUTPUT);// PIN 7 (PWM) 
  pinMode(Right_motor_back,OUTPUT);// PIN 8 (PWM)
 pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); pinMode(L1,OUTPUT); pinMode(L2,OUTPUT); pinMode(L3,OUTPUT); pinMode(L4,OUTPUT); Serial.begin(9600);   //波特率9600
  delay(1000); // 給OpenMV一個啓動的時間
} void back()     // 前進
{ digitalWrite(Right_motor_go,LOW); // 右電機前進
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH); // 左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void Break()         //剎車，停車
{ digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void right()         //左轉(左輪不動，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪不動
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void spin_left()         //左轉(左輪後退，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void left()        //右轉(右輪不動，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機不動
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void spin_right()        //右轉(右輪後退，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void Run()          //後退
{ digitalWrite(Right_motor_go,LOW); //右輪後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void loop() { Serial.print("one"); Serial.println(analogRead(L1)); Serial.print("two"); Serial.println(analogRead(L2)); Serial.print("three"); Serial.println(analogRead(L3)); Serial.print("four"); Serial.println(analogRead(L4)); a=analogRead(L1); b=analogRead(L2); c=analogRead(L3); d=analogRead(L4); if(a==1000&&b==1000&&c==1000&&d==1000) { Run(); } if(a==0&&b==0&&c==0&&d==0) { Break(); } if(a<1000&&b<1000&&c>1000&&d>1000) { left(); } if(a>1000&&b>1000&&c<1000&&d<1000) { right(); } }

7.超聲波避障

#include <Servo.h>

int Left_motor_back=4;     //左電機後退(IN1)
int Left_motor_go=5;     //左電機前進(IN2)
int Right_motor_go=6;    // 右電機前進(IN3)
int Right_motor_back=7;    // 右電機後退(IN4)
int ENA=10; int ENB=11; Servo myServo; //舵機

int inputPin=3;   // 定義超聲波信號接收接口
int outputPin=2;  // 定義超聲波信號發出接口

void setup() { // put your setup code here, to run once: //串口初始化
  Serial.begin(9600); //舵機引腳初始化
  myServo.attach(9); //初始化電機驅動IO爲輸出方式
  pinMode(Left_motor_go,OUTPUT); // PIN 4 (PWM)
  pinMode(Left_motor_back,OUTPUT); // PIN 5 (PWM)
  pinMode(Right_motor_go,OUTPUT);// PIN 6 (PWM) 
  pinMode(Right_motor_back,OUTPUT);// PIN 7 (PWM)
 pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); //超聲波控制引腳初始化
 pinMode(inputPin, INPUT); pinMode(outputPin, OUTPUT); } int getDistance() { digitalWrite(outputPin, LOW); // 使發出發出超聲波信號接口低電平2μs
  delayMicroseconds(2); digitalWrite(outputPin, HIGH); // 使發出發出超聲波信號接口高電平10μs，這裏是至少10μs
  delayMicroseconds(10); digitalWrite(outputPin, LOW); // 保持發出超聲波信號接口低電平
  int distance = pulseIn(inputPin, HIGH); // 讀出脈衝時間
  distance= distance/58; // 將脈衝時間轉化爲距離（單位：釐米）
  Serial.println(distance); //輸出距離值
  if (distance >=50) { //若是距離小於50釐米返回數據
    return 50; }//若是距離小於50釐米小燈熄滅
  else
    return distance; } void Run()     // 前進
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH); // 左電機前進
 digitalWrite(Left_motor_back,LOW); } void Break()         //剎車，停車
{ digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_go,LOW); } void left()         //左轉(左輪不動，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪不動
 digitalWrite(Left_motor_back,LOW); } void spin_left()         //左轉(左輪後退，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); } void right()        //右轉(右輪不動，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機不動
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); } void spin_right()        //右轉(右輪後退，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); } void back()          //後退
{ digitalWrite(Right_motor_go,LOW); //右輪後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); } void loop() { // put your main code here, to run repeatedly:
 avoidance(); } void avoidance() { int pos; int dis[3];//距離
 Run(); myServo.write(90); dis[1]=getDistance(); //中間
 digitalWrite(ENA,HIGH); digitalWrite(ENB,HIGH); if(dis[1]<30) { Break(); for (pos = 90; pos <= 150; pos += 1) { myServo.write(pos); // tell servo to go to position in variable 'pos'
      delay(15);                       // waits 15ms for the servo to reach the position
 } dis[2]=getDistance(); //左邊
    for (pos = 150; pos >= 30; pos -= 1) { myServo.write(pos); // tell servo to go to position in variable 'pos'
      delay(15);                       // waits 15ms for the servo to reach the position
      if(pos==90) dis[1]=getDistance(); //中間
 } dis[0]=getDistance();  //右邊
    for (pos = 30; pos <= 90; pos += 1) { myServo.write(pos); // tell servo to go to position in variable 'pos'
      delay(15);                       // waits 15ms for the servo to reach the position
 } if(dis[0]<dis[2]) //右邊距離障礙的距離比左邊近
 { //左轉
 left(); delay(500); } else  //右邊距離障礙的距離比左邊遠
 { //右轉
 right(); delay(500); } } }

8 OpenMV模塊程序

（1）OpenMv IDE代碼：

#car.py # Arduino 做爲I2C主設備， OpenMV做爲I2C從設備。 # # 請把OpenMV和Arduino按照下面連線： # # OpenMV Cam Master I2C Data (P5) - Arduino Uno Data (A4) # OpenMV Cam Master I2C Clock (P4) - Arduino Uno Clock (A5) # OpenMV Cam Ground - Arduino Ground import pyb, ustruct import ujson from pyb import Pin, Timer text = "Hello World!\n" data = ustruct.pack("<%ds" % len(text), text) # 使用 "ustruct" 來生成須要發送的數據包 # "<" 把數據以小端序放進struct中 # "%ds" 把字符串放進數據流，好比："13s" 對應的 "Hello World!\n" (13 chars). # 詳見 https://docs.python.org/3/library/struct.html
 # READ ME!!! # # 請理解，當您的OpenMV攝像頭不是I2C主設備，因此不論是使用中斷回調， # 仍是下方的輪循，均可能會錯過響應發送數據給主機。當這種狀況發生時， # Arduino會得到NAK，而且不得不從OpenMV再次讀數據。請注意， # OpenMV和Arduino都不擅長解決I2C的錯誤。在OpenMV和Arduino中， # 你能夠經過釋放I2C外設，再從新初始化外設，來恢復功能。 # OpenMV上的硬件I2C總線都是2 bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12) bus.deinit() # 徹底關閉設備 bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12) print("Waiting for Arduino...") # 請注意，爲了正常同步工做，OpenMV Cam必須 在Arduino輪詢數據以前運行此腳本。 # 不然，I2C字節幀會變得亂七八糟。因此，保持Arduino在reset狀態， # 直到OpenMV顯示「Waiting for Arduino...」。 def run(left_speed, right_speed): data = str(left_speed)+" "+str(right_speed)+" "
    try: #print(data) bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先發送長度 (16-bits). try: bus.send(data, timeout=10000) # 而後發送數據 print("Sent Data!") # 沒有遇到錯誤時，會顯示 except OSError as err: pass # 不用擔憂遇到錯誤，會跳過 # 請注意，有3個可能的錯誤。 超時錯誤（timeout error）， # 通用錯誤（general purpose error）或繁忙錯誤 #（busy error）。 「err.arg[0]」的錯誤代碼分別 # 爲116,5,16。 except OSError as err: pass # 不用擔憂遇到錯誤，會跳過 # 請注意，有3個可能的錯誤。 超時錯誤（timeout error）， # 通用錯誤（general purpose error）或繁忙錯誤 #（busy error）。 「err.arg[0]」的錯誤代碼分別 # 爲116,5,16。

#pid.py from pyb import millis from math import pi, isnan class PID: _kp = _ki = _kd = _integrator = _imax = 0 _last_error = _last_derivative = _last_t = 0 _RC = 1/(2 * pi * 20) def __init__(self, p=0, i=0, d=0, imax=0): self._kp = float(p) self._ki = float(i) self._kd = float(d) self._imax = abs(imax) self._last_derivative = float('nan') def get_pid(self, error, scaler): tnow = millis() dt = tnow - self._last_t output = 0
        if self._last_t == 0 or dt > 1000: dt = 0 self.reset_I() self._last_t = tnow delta_time = float(dt) / float(1000) output += error * self._kp if abs(self._kd) > 0 and dt > 0: if isnan(self._last_derivative): derivative = 0 self._last_derivative = 0
            else: derivative = (error - self._last_error) / delta_time derivative = self._last_derivative + \ ((delta_time / (self._RC + delta_time)) * \ (derivative - self._last_derivative)) self._last_error = error self._last_derivative = derivative output += self._kd * derivative output *= scaler if abs(self._ki) > 0 and dt > 0: self._integrator += (error * self._ki) * scaler * delta_time if self._integrator < -self._imax: self._integrator = -self._imax elif self._integrator > self._imax: self._integrator = self._imax output += self._integrator return output def reset_I(self): self._integrator = 0 self._last_derivative = float('nan')

#main.py # Blob Detection Example # # This example shows off how to use the find_blobs function to find color # blobs in the image. This example in particular looks for dark green objects. import sensor, image, time import car from pid import PID # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. sensor.reset() # Initialize the camera sensor. sensor.set_pixformat(sensor.RGB565) # use RGB565. sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed. sensor.skip_frames(10) # Let new settings take affect. sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... green_threshold = (42, 80, 28, 127, -22, 55) # 顏色閾值，不一樣物體須要修改 size_threshold = 2000 #小球距離 x_pid = PID(p=0.1, i=0.2, imax=30) # 方向參數p h_pid = PID(p=0.01, i=0.1, imax=100) # 速度參數p def find_max(blobs): #找到視野中最大的色塊，即最大的小球 max_size=0
    for blob in blobs: if blob[2]*blob[3] > max_size: max_blob=blob max_size = blob[2]*blob[3] return max_blob while(True): clock.tick() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. blobs = img.find_blobs([green_threshold]) if blobs: max_blob = find_max(blobs) x_error = max_blob[5]-img.width()/2    #色塊的外框的中心x座標blob[5] h_error = max_blob[2]*max_blob[3]-size_threshold #色塊的外框的寬度blob[2],色塊的外框的高度blob[3] print("x error: ", x_error) #打印 x 軸偏差 用於轉彎 print("h error: ", h_error) #打印 距離偏差 用於速度 '''         for b in blobs: # Draw a rect around the blob. img.draw_rectangle(b[0:4]) # rect img.draw_cross(b[5], b[6]) # cx, cy '''         img.draw_rectangle(max_blob[0:4]) # rect img.draw_cross(max_blob[5], max_blob[6]) # cx, cy x_output=x_pid.get_pid(x_error,1) h_output=h_pid.get_pid(h_error,1) #h_error調整後的值 print("x_output",x_output) print("h_output",h_output) car.run(-h_output-x_output,-h_output+x_output) print(-h_output-x_output,-h_output+x_output) else: car.run(0,0)

（2）Arduino程序

#include <IRremote.h> #include <Wire.h>
#define BAUD_RATE 9600
#define CHAR_BUF 128
float left_speed = 1.1; float right_speed = 1.1; char buff[CHAR_BUF] = {0}; int RECV_PIN = 8;//紅外接收端口
IRrecv irrecv(RECV_PIN); decode_results results;//結構聲明
char mode = 'I';  //設置小車運行模式，默認紅外模式
int Left_motor_back=4;     //左電機後退(IN1)
int Left_motor_go=5;     //左電機前進(IN2)
int Right_motor_go=6;    // 右電機前進(IN3)
int Right_motor_back=7;    // 右電機後退(IN4)
int ENA = 10;      //PWM輸入A
int ENB = 11;      //PWM輸入B
int speed_default = 100;    //0-255之間,小車最低速度爲70，最佳速度爲100
char ch; bool inverse_left=false; bool inverse_right=false; void setup() { //初始化電機驅動IO爲輸出方式
  pinMode(Left_motor_go,OUTPUT); // PIN 5 (PWM)
  pinMode(Left_motor_back,OUTPUT); // PIN 6 (PWM)
  pinMode(Right_motor_go,OUTPUT);// PIN 7 (PWM) 
  pinMode(Right_motor_back,OUTPUT);// PIN 8 (PWM)
 pinMode(ENA,OUTPUT); pinMode(ENB,OUTPUT); pinMode(13, OUTPUT);////端口模式，輸出
  Serial.begin(BAUD_RATE);   //波特率9600
  irrecv.enableIRIn(); // Start the receiver
 Wire.begin(); delay(1000); // 給OpenMV一個啓動的時間
} void back()     // 前進
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH); // 左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void Break()         //剎車，停車
{ digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void right()         //左轉(左輪不動，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪不動
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void spin_left()         //左轉(左輪後退，右輪前進)
{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void left()        //右轉(右輪不動，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機不動
 digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void spin_right()        //右轉(右輪後退，左輪前進)
{ digitalWrite(Right_motor_go,LOW); //右電機後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } void Run()          //後退
{ digitalWrite(Right_motor_go,LOW); //右輪後退
 digitalWrite(Right_motor_back,HIGH); digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); analogWrite(ENA,speed_default); analogWrite(ENB,speed_default); } //============================================================================= //讀取各個按鍵須要用到這段代碼 //=============================================================================

void read_key() { if(irrecv.decode(&results)){  //若是接收到信息
        Serial.print("code:"); Serial.println(results.value,HEX);//results.value爲16進制,unsigned long
        Serial.print("bits:"); Serial.println(results.bits);//輸出元位數
 irrecv.resume(); } } //============================================================================= //處理字符串buff //============================================================================

void getCode(){    //buff通過傳輸，尾部有干擾，故用兩個空格分割
 String temp1,temp2; String string = String(buff); int postion = string.indexOf(" "); temp1 = string.substring(0,postion); string = string.substring(postion+1,string.length()); postion = postion = string.indexOf(" "); temp2 = string.substring(0,postion); left_speed = temp1.toFloat(); right_speed = temp2.toFloat(); } //============================================================================= //PWM模式的小車運動 //============================================================================
void openmvrun(){ if(inverse_left) left_speed=-left_speed; if(inverse_right) right_speed=-right_speed; int l_speed = abs(left_speed); int r_speed = abs(right_speed); if(left_speed<0){ digitalWrite(Left_motor_go,LOW); //左輪後退
 digitalWrite(Left_motor_back,HIGH); }else{ digitalWrite(Left_motor_go,HIGH);//左電機前進
 digitalWrite(Left_motor_back,LOW); } analogWrite(ENA,l_speed); if(right_speed<0){ digitalWrite(Right_motor_go,LOW); //右輪後退
 digitalWrite(Right_motor_back,HIGH); }else{ digitalWrite(Right_motor_go,HIGH); // 右電機前進
 digitalWrite(Right_motor_back,LOW); } analogWrite(ENB,r_speed); Serial.print(l_speed); Serial.print(" "); Serial.print(r_speed); } void loop() { if(Serial.available()>0){ ch = Serial.read(); if(ch == 'I'){ //紅外模式
        mode = 'I'; }else if(ch == 'B'){ //藍牙模式
        mode = 'B'; }else if(ch == 'O'){ //openmv模式
        mode = 'O'; } } if(mode == 'I'){     //紅外模式控制代碼 //Serial.println("紅外模式");
 read_key(); if(irrecv.decode(&results)){  //若是接收到信息
 Serial.println(results.value); switch(results.value){ case 0xFF18E7:  //前,對應2
 Run(); break; case 0xFF4AB5:  //後，對應8
 back(); break; case 0xFF10EF:  //左，對應4
 left(); break; case 0xFF5AA5:  //右，對應6
 right(); break; case 0xFF38C7:  //中止，對應5
 Break(); break; default: break; } irrecv.resume(); } } if(mode == 'B'){   //藍牙模式控制代碼 //Serial.println("藍牙模式");
    char ch1 = '0'; if(ch == '1'){ //前進
 Run(); Serial.print("前進"); }else if(ch == '2'){ //後退
 back(); Serial.print("後退"); }else if(ch == '3'){ //左轉
 left(); Serial.print("左轉"); }else if(ch == '4'){ //右轉
 right(); Serial.print("右轉"); }else if(ch=='0'){ //停車
 Break(); Serial.print("停車"); }else if(ch=='5'){ speed_default +=5; ch = ch1; }else if(ch=='6'){ speed_default -=5; ch = ch1; } ch1 = ch; Serial.println(speed_default); } if(mode == 'O'){      //openmv模式控制代碼 //Serial.println("openmv模式");
    int32_t temp = 0; Wire.requestFrom(0x12, 2); if (Wire.available() == 2) { // got length? 
      temp = Wire.read() | (Wire.read() << 8); delay(1); // Give some setup time... 
      Wire.requestFrom(0x12, temp); if (Wire.available() == temp) { // got full message? 
        temp = 0; while (Wire.available()) buff[temp++] = Wire.read(); } else { while (Wire.available()) Wire.read(); // Toss garbage bytes.
 } } else { while (Wire.available()) Wire.read(); // Toss garbage bytes.
 } //Serial.println(buff);
 getCode(); //Serial.println(left_speed+" "+"right_speed="+right_speed); //Serial.print(left_speed); //Serial.print(" "); //Serial.print(right_speed);
 openmvrun(); delay(1); // Don't loop to quickly.
 } }

9.音樂播放——歌曲《小宇》

#define Do 495  
#define Re 556  
#define Mi 624  
#define Fa 661  
#define Sol 742  
#define La 833 
#define Si 935
#define hDo 990
#define hRe 1112  
#define hMi 1178 
#define hFa 1322  
#define hSol 1484  
#define hLa 1665
#define hSi 1869 
#define dDo 248 
#define dRe 278  
#define dMi 294  
#define dFa 330  
#define dSol 371  
#define dLa 416 
#define dSi 467
int pin=12; //自行選擇做爲輸出的接口
int scale[]={Do,Re,Mi,Fa,Sol,La,Si,dDo,dRe,dMi,dFa,dSol,dLa,dSi,hDo,hRe,hMi,hFa,hSol,hLa,hSi}; int pu[100]={1,3,5,6,5,5,5,5,1,1,3,3,100,100,1,3,4,6,5,5,5,5,4,4,3,3,100,100,1,3,5,6,5,5,5,5,4,4,3,3,2,2,1,1,100,1,1,1,1,2,3,2,2,100,100}; void setup(){ pinMode(pin,OUTPUT); } void loop(){ for(int i=0;i<61;i++){ if(pu[i]!=100) { tone(pin,scale[pu[i]-1]); } else noTone(pin); delay(200); noTone(pin); delay(100); } delay(5000); }