描述

一、簡(jiǎn)介

使用 Arduino 的自控機(jī)器人汽車(chē)。

這輛機(jī)器人汽車(chē)使用超聲波傳感器來(lái)檢測(cè)前方的障礙物，每當(dāng)它檢測(cè)到障礙物時(shí)，它的超聲波傳感器就會(huì)在左右兩個(gè)方向上移動(dòng)，以計(jì)算出自由移動(dòng)的最佳距離。

它的超聲波傳感器范圍高達(dá) 150 厘米。

2. 示范

3. 制作這款機(jī)器人汽車(chē)的步驟

在 Arduino IDE 中導(dǎo)入 Servo.h 和 NewPing.h 庫(kù)。

// Library
#include         // Include Servo Library
#include       // Include Newping Library 

初始化引腳

// L298N Control Pins
const int LeftMotorForward = 4;
const int LeftMotorBackward = 5;
const int RightMotorForward = 6;
const int RightMotorBackward = 7;
const int LEDext = 1;
const int Buzzer = 0;

#define TRIGGER_PIN  A1  // Arduino pin to trigger pin on the ultrasonic sensor.
#define ECHO_PIN     A2  // Arduino pin to echo pin on the ultrasonic sensor.
#define MAX_DISTANCE 250 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 250cm.

創(chuàng)建對(duì)象和變量

Servo servo_motor;  // Servo's name
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.
boolean goesForward = false;
int distance = 50;

編寫(xiě) Arduino 代碼的設(shè)置部分

 void setup()
{
// Set L298N Control Pins as Output
pinMode(RightMotorForward, OUTPUT);
pinMode(LeftMotorForward, OUTPUT);
pinMode(LeftMotorBackward, OUTPUT);
pinMode(RightMotorBackward, OUTPUT);
pinMode(LEDext, OUTPUT);        //set led as output
pinMode(Buzzer, OUTPUT);        //set buzzer as output
servo_motor.attach(9);   // Attachs the servo on pin 9 to servo object.
servo_motor.write(115);   // Set at 115 degrees.
delay(2000);              // Wait for 2s.
distance = readPing();    // Get Ping Distance.
delay(100);               // Wait for 100ms.
}

編寫(xiě) Arduino 代碼的無(wú)效循環(huán)部分

void loop() 
{  
  int distanceRight = 0;  //Initialize right side distance                                              
  int distanceLeft = 0;   //Initialize left side distance
  delay(50);

  if (distance <= 30)   //If distance of obstacle less than 30 cm from robot 
  {
    Stop();   //call stop function to stop the robot
    digitalWrite(LEDext, HIGH);   //Turn led ON
    digitalWrite(Buzzer, HIGH);   //Turn Buzzer ON
    delay(300);   //wait for 300ms
    moveBackward();   //call moveBackward function to move robot in backward direction
    
    delay(400);   //wait for 400ms
    Stop();   //call stop function to stop the robot
    
    delay(300);   //wait for 300ms
    distanceRight = lookRight();    //call lookRight function to save distance in distanceRight variable
    
    delay(300);   //wait for 300ms
    distanceLeft = lookLeft();    //call lookLeft function to save distance in distanceLeft variable
    
    delay(300);   //wait for 300ms

    if (distanceRight >= distanceLeft)    //If distance of right greater or equall to distance of left
    {
      turnRight();    //call function to turn right robot
      delay(300);   //wait for 300ms
      Stop();   //call stop function to stop robot
    }
    else //else
    {
      turnLeft();   //call function to turn left robot
      delay(300);   //wait for 300ms
      Stop();   //call stop function to stop robot
    }
  
  }
  else    //else
  {
    moveForward();    //call moveForward function to move robot in forward direction 
  }

    distance = readPing();    //call readPing function to calculate Distance
}

制作計(jì)算右側(cè)距離的函數(shù)

int lookRight()     // lookRight Function for Servo Motor
{  
  servo_motor.write(0);   //make servo position at 0 degree
  delay(500);   //wait for 500ms
  int distance = readPing();    //read distance
  delay(100);   //wait for 100ms
  servo_motor.write(90);    //make servo position 90 degree
  return distance;    //return distance whenever lookRight function is called
}

制作計(jì)算左側(cè)距離的函數(shù)

int lookLeft()      // lookLeft Function for Servo Motor 
{
  servo_motor.write(180);   //make servo position at 0 degree
  delay(500);   //wait for 500ms
  int distance = readPing();    //read distance
  delay(100);   //wait for 100ms
  servo_motor.write(90);    //make servo position 90 degree
  return distance;    //return distance whenever lookLeft function is called
} 

使功能與超聲波傳感器保持距離

int readPing()      // readPing Function for Ultrasonic Sensor.
{
  delay(100);                 // Wait 100ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
  int cm = sonar.ping_cm();   //Send ping, get ping distance in centimeters (cm).
  if (cm==0)
  {
    cm=250;
  }
  return cm;    //return distance whenever readPing function is called
} 

制作停止機(jī)器人的功能

void Stop()       // Stop Function for Motor Driver.
{
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(RightMotorBackward, LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(LeftMotorBackward, LOW);
} 

使機(jī)器人向前移動(dòng)的功能

void moveForward()    // Move Forward Function for Motor Driver.
{
    digitalWrite(RightMotorForward, HIGH);
    digitalWrite(RightMotorBackward, LOW);
    digitalWrite(LeftMotorForward, HIGH);
    digitalWrite(LeftMotorBackward, LOW);
    digitalWrite(LEDext, LOW);
    digitalWrite(Buzzer, LOW);
}

使機(jī)器人向后移動(dòng)的功能

void moveBackward()   // Move Backward Function for Motor Driver.
{
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(RightMotorBackward, HIGH);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(LeftMotorBackward, HIGH);
} 

使機(jī)器人向右移動(dòng)的功能

void turnRight()      // Turn Right Function for Motor Driver.
{
  digitalWrite(RightMotorForward, LOW);
  digitalWrite(RightMotorBackward, HIGH);
  digitalWrite(LeftMotorForward, HIGH);
  digitalWrite(LeftMotorBackward, LOW);
} 

使機(jī)器人在左側(cè)方向移動(dòng)的功能

void turnLeft()       // Turn Left Function for Motor Driver.
{
  digitalWrite(RightMotorForward, HIGH);
  digitalWrite(RightMotorBackward, LOW);
  digitalWrite(LeftMotorForward, LOW);
  digitalWrite(LeftMotorBackward, HIGH);
} 

將代碼上傳到您的 Arduino 板。

4. 按照原理圖連接所有組件。