一、概述
1. 设计内容
（1）智能小车自动运行（前后走，左右转）
（2）蓝牙控制、遥控器控制、无线手柄控制
（3）循迹、避障
（4）视觉
（5）装饰：音乐播放器
2.材料清单
3.掌握的内容
（1）Arduino控制板引脚、连线及编程
（2）电机驱动板L298N连线及编程
（3）传感器模块的连线及使用，包括红外避障、红外循迹、超声波避障、数码管速度显示、OPENMV视觉捕捉、语音识别模块、音乐播放、
（4）无线通信及遥控：蓝牙模块、WiFi模块、红外遥控、无线手柄、GPS定位。
二、小车组装
小车实物图如图1所示，按照图示连接安装
图1 实物连接图
三、控制元件搭建
1.电机驱动板L298N连线
图2 L298N电路板图
图中，通道A和通道B分别连接电机的两端（两端无方向性，关乎电机正反转）；电源正负极分别接到图示主电源正负极（≤5V接到5V输入，≥5V接到12V）；A、B相使能端靠外接线端接入3、5、6、9、10、11等任意两个接线端带~的接线端，此处接到D10 D11，靠内一侧的两个引脚悬空或接5V连线端；1，2，3，4输入端分别接入数字端口D4 D5 D6 D7。
2.电源连线
电池盒放入两节2×3.4V的可充电锂电池，将正极线（红色）连接到开关一端，另一端连入面包板正极列，正极列连入图2电源正极端（12V或5V）和Arduino的VIN端；GND接到面包板负极，电源负极端连入面包板负极的同一列。
图3 电源连接线
3.传感器件连线
（1）超声波接线端
图4 超声波实物图
VCC接5V，GND接GND，TRIG接2 ECHO接3
（2）蓝牙模块连线
VCC接5V，GND接GND，TX接RX，RX接TX
（3）红外遥控连线
-接GND，+接5V，S接信号端，此处接D8
（4）红外循迹模块
四路循迹分别接到循迹主控板上，VCC接主控板5V，GND接主控板GND，OUT1~OUT4分别接到A0-A3
调节方式：将循迹模块置于轨迹上，令四路模块依次检测轨迹与非轨迹部分，并通过调节所在位置的电位器，使得指示灯在检测到轨迹时灭，未检测到轨迹时亮即可，然后通过串口通信端读取值，替换到程序中。
（5）舵机云台
棕色接GND，红色接5V，橙色接信号线，此处接D9
（6）OPENMV
P4接A4，P5接A5，VCC接5V，GND接GND
（7）蜂鸣器
VCC接5V，GND接GND，I/O接D12
四、编程实现
1. 蓝牙AT模式设置
按住蓝牙模块黑色按钮，然后再接通电源，蓝牙以一秒间隔闪灭
将下面程序串烧到Arduino中，打开串口监视器，观察串口输出，显示OK即为成功设置
断电，再次上电，当蓝牙不断闪烁时，开始正常工作
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. 电机PWM驱动程序
int Left_motor_back=4; //左电机后退(IN1)
int Left_motor_go=5; //左电机前进(IN2)
int Right_motor_go=6; // 右电机前进(IN3)
int Right_motor_back=7; // 右电机后退(IN4)
int ENA=10;
int ENB=11;int i;
void setup()
{
//初始化电机驱动IO为输出方式
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() // 前进
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH); // 左电机前进
digitalWrite(Left_motor_back,LOW);
digitalWrite(ENA,HIGH);
digitalWrite(ENB,HIGH);
}
void Break() //刹车，停车
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
}
void left() //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); //左轮不动
digitalWrite(Left_motor_back,LOW);
}
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);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
}
void right() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机不动
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
}
void spin_right() //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,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
}
void back() //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
}
void loop(
Run();
}
3.红外遥控程序
#include
int RECV_PIN = 8;
IRrecv irrecv(RECV_PIN);
decode_results results;//结构声明
//==============================
int Left_motor_back=4; //左电机后退(IN1)
int Left_motor_go=5; //左电机前进(IN2)
int Right_motor_go=6; // 右电机前进(IN3)
int Right_motor_back=7; // 右电机后退(IN4)
int ENA=10;
int ENB=11;
void setup()
{
//初始化电机驱动IO为输出方式
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，输出
pinMode(ENB, OUTPUT);////端口模式，输出
Serial.begin(9600); //波特率9600
irrecv.enableIRIn(); // Start the receiver
}
void back() // 前进
{
digitalWrite(Right_motor_go,LOW); // 右电机前进
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,HIGH); // 左电机前进
digitalWrite(Left_motor_back,LOW);
digitalWrite(ENA,HIGH);
digitalWrite(ENB,HIGH);
}
void brake() //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 right() //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); //左轮不动
digitalWrite(Left_motor_back,LOW);
}
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);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
}
void left() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机不动
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
}
void spin_right() //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,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
}
void run() //后退
{
digitalWrite(Right_motor_go,HIGH); //右轮后退
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
}
void read_key()
{
if(irrecv.decode(&results)){ //如果接收到信息
Serial.print("code:");
Serial.println(results.value,HEX);//results.value为16进制,unsigned long
Serial.print("bits:");
Serial.println(results.bits);//输出元位数
irrecv.resume();
}
}
void loop()
{
read_key();
if(irrecv.decode(&results)){ //如果接收到信息
switch(results.value){
case 0xFF18E7: //前,对应2
run();
break;
case 0xFF4AB5: //后，对应8
back();
break;
case 0xFF10EF: //左，对应4
left();
break;
case 0xFF5AA5: //右，对应6
right();
break;
case 0xFF38C7: //停止，对应5
brake();
break;
default:
break;
}
irrecv.resume();
}
}
4.蓝牙控制
#include //红外遥控库函数
#define BAUD_RATE 9600
int RECV_PIN = 8;//红外接收端口
IRrecv irrecv(RECV_PIN);
decode_results results;//结构声明
char mode = 'I'; //设置小车运行模式，默认红外模式
int Left_motor_back=4; //左电机后退(IN1)
int Left_motor_go=5; //左电机前进(IN2)
int Right_motor_go=6; // 右电机前进(IN3)
int Right_motor_back=7; // 右电机后退(IN4)
int ENA = 10; //PWM输入A
int ENB = 11; //PWM输入B
int speed_default = 100; //0-255之间,小车最低速度为70，最佳速度为100
char ch;
bool inverse_left=false;
bool inverse_right=false;
void setup()
{
//初始化电机驱动IO为输出方式
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); // 给OpenMV一个启动的时间
}
void read_key()
{
if(irrecv.decode(&results)){ //如果接收到信息
Serial.print("code:");
Serial.println(results.value,HEX);//results.value为16进制,unsigned long
Serial.print("bits:");
Serial.println(results.bits);//输出元位数
irrecv.resume();
}
}
void back() // 前进
{
digitalWrite(Right_motor_go,LOW); // 右电机前进
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,HIGH); // 左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void Break() //刹车，停车
{
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); //左轮不动
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
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);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void left() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机不动
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void spin_right() //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,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void Run() //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,LOW); //左轮后退
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'){
//前进
Run();
Serial.print("forward");
}else if(ch == '2'){
//后退
back();
Serial.print("backward");
}else if(ch == '3'){
//左转
left();
Serial.print("turnLeft");
}else if(ch == '4'){
//右转
right();
Serial.print("turnRight");
}else if(ch=='0'){
//停车
Break();
Serial.print("stop");
}
}
}
5.蓝牙与红外遥控的切换
#include //红外遥控库函数
#define BAUD_RATE 9600
int RECV_PIN = 8;//红外接收端口
IRrecv irrecv(RECV_PIN);
decode_results results;//结构声明
char mode = 'I'; //设置小车运行模式，默认红外模式
int Left_motor_back=4; //左电机后退(IN1)
int Left_motor_go=5; //左电机前进(IN2)
int Right_motor_go=6; // 右电机前进(IN3)
int Right_motor_back=7; // 右电机后退(IN4)
int ENA = 10; //PWM输入A
int ENB = 11; //PWM输入B
int speed_default = 100; //0-255之间,小车最低速度为70，最佳速度为100
char ch;
bool inverse_left=false;
bool inverse_right=false;
void setup()
{
//初始化电机驱动IO为输出方式
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); // 给OpenMV一个启动的时间
}
void read_key()
{
if(irrecv.decode(&results)){ //如果接收到信息
Serial.print("code:");
Serial.println(results.value,HEX);//results.value为16进制,unsigned long
Serial.print("bits:");
Serial.println(results.bits);//输出元位数
irrecv.resume();
}
}
void back() // 前进
{
digitalWrite(Right_motor_go,LOW); // 右电机前进
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,HIGH); // 左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void Break() //刹车，停车
{
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); //左轮不动
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
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);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void left() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机不动
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void spin_right() //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,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void Run() //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,LOW); //左轮后退
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'){
//红外模式
mode = 'I';
}
if(ch == 'B'){
//蓝牙模式
mode = 'B';
}
}
if(mode == 'I'){ //红外模式控制代码
Serial.println("IRremote Mode");
read_key();
if(irrecv.decode(&results)){ //如果接收到信息
Serial.println(results.value);
switch(results.value){
case 0xFF18E7: //前,对应2
Run();
break;
case 0xFF4AB5: //后，对应8
back();
break;
case 0xFF10EF: //左，对应4
left();
break;
case 0xFF5AA5: //右，对应6
right();
break;
case 0xFF38C7: //停止，对应5
Break();
break;
default:
break;
}
irrecv.resume();
}
}
if(mode == 'B'){ //蓝牙模式控制代码
Serial.println("Blue Mode");
char ch1 = '0';
if(ch == '1'){
//前进
Run();
Serial.print("forward");
}else if(ch == '2'){
//后退
back();
Serial.print("backward");
}else if(ch == '3'){
//左转
left();
Serial.print("turnLeft");
}else if(ch == '4'){
//右转
right();
Serial.print("turnRight");
}else if(ch=='0'){
//停车
Break();
Serial.print("stop");
}}
6.红外循迹
#define L1 A0
#define L2 A1
#define L3 A2
#define L4 A3
int Left_motor_back=4; //左电机后退(IN1)
int Left_motor_go=5; //左电机前进(IN2)
int Right_motor_go=6; // 右电机前进(IN3)
int Right_motor_back=7; // 右电机后退(IN4)
int ENA = 10; //PWM输入A
int ENB = 11; //PWM输入B
int speed_default = 100; //0-255之间,小车最低速度为70，最佳速度为100
char ch;
bool inverse_left=false;
bool inverse_right=false;
int a;
int b;
int c;
int d;
void setup()
{
//初始化电机驱动IO为输出方式
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); // 给OpenMV一个启动的时间
}
void back() // 前进
{
digitalWrite(Right_motor_go,LOW); // 右电机前进
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,HIGH); // 左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void Break() //刹车，停车
{
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); //左轮不动
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
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);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void left() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机不动
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void spin_right() //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,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void Run() //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,LOW); //左轮后退
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.超声波避障
#include
int Left_motor_back=4; //左电机后退(IN1)
int Left_motor_go=5; //左电机前进(IN2)
int Right_motor_go=6; // 右电机前进(IN3)
int Right_motor_back=7; // 右电机后退(IN4)
int ENA=10;
int ENB=11;
Servo myServo; //舵机
int inputPin=3; // 定义超声波信号接收接口
int outputPin=2; // 定义超声波信号发出接口
void setup() {
// put your setup code here, to run once:
//串口初始化
Serial.begin(9600);
//舵机引脚初始化
myServo.attach(9);
//初始化电机驱动IO为输出方式
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);
//超声波控制引脚初始化
pinMode(inputPin, INPUT);
pinMode(outputPin, OUTPUT);
}
int getDistance()
{
digitalWrite(outputPin, LOW); // 使发出发出超声波信号接口低电平2μs
delayMicroseconds(2);
digitalWrite(outputPin, HIGH); // 使发出发出超声波信号接口高电平10μs，这里是至少10μs
delayMicroseconds(10);
digitalWrite(outputPin, LOW); // 保持发出超声波信号接口低电平
int distance = pulseIn(inputPin, HIGH); // 读出脉冲时间
distance= distance/58; // 将脉冲时间转化为距离（单位：厘米）
Serial.println(distance); //输出距离值
if (distance >=50)
{
//如果距离小于50厘米返回数据
return 50;
}//如果距离小于50厘米小灯熄灭
else
return distance;
}
void Run() // 前进
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH); // 左电机前进
digitalWrite(Left_motor_back,LOW);
}
void Break() //刹车，停车
{
digitalWrite(Right_motor_go,LOW);
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,LOW);
digitalWrite(Left_motor_go,LOW);
}
void left() //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); //左轮不动
digitalWrite(Left_motor_back,LOW);
}
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);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
}
void right() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机不动
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
}
void spin_right() //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,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
}
void back() //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
}
void loop() {
// put your main code here, to run repeatedly:
avoidance();
}
void avoidance()
{
int pos;
int dis[3];//距离
Run();
myServo.write(90);
dis[1]=getDistance(); //中间
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(); //左边
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(); //中间
}
dis[0]=getDistance(); //右边
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]
{
//左转
left();
delay(500);
}
else //右边距离障碍的距离比左边远
{
//右转
right();
delay(500);
}
}
}
8 OpenMV模块程序
（1）OpenMv IDE代码：
#car.py
# Arduino 作为I2C主设备， OpenMV作为I2C从设备。
#
# 请把OpenMV和Arduino按照下面连线：
#
# 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" 来生成需要发送的数据包
# "<" 把数据以小端序放进struct中
# "%ds" 把字符串放进数据流，比如："13s" 对应的 "Hello World!\n" (13 chars).
# 详见 https://docs.python.org/3/library/struct.html
# READ ME!!!
#
# 请理解，当您的OpenMV摄像头不是I2C主设备，所以不管是使用中断回调，
# 还是下方的轮循，都可能会错过响应发送数据给主机。当这种情况发生时，
# Arduino会获得NAK，并且不得不从OpenMV再次读数据。请注意，
# OpenMV和Arduino都不擅长解决I2C的错误。在OpenMV和Arduino中，
# 你可以通过释放I2C外设，再重新初始化外设，来恢复功能。
# OpenMV上的硬件I2C总线都是2
bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
bus.deinit() # 完全关闭设备
bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
print("Waiting for Arduino...")
# 请注意，为了正常同步工作，OpenMV Cam必须 在Arduino轮询数据之前运行此脚本。
# 否则，I2C字节帧会变得乱七八糟。所以，保持Arduino在reset状态，
# 直到OpenMV显示“Waiting for Arduino...”。
def run(left_speed, right_speed):
data = str(left_speed)+" "+str(right_speed)+" "
try:
#print(data)
bus.send(ustruct.pack("
try:
bus.send(data, timeout=10000) # 然后发送数据
print("Sent Data!") # 没有遇到错误时，会显示
except OSError as err:
pass # 不用担心遇到错误，会跳过
# 请注意，有3个可能的错误。超时错误（timeout error），
# 通用错误（general purpose error）或繁忙错误
#（busy error）。“err.arg[0]”的错误代码分别
# 为116,5,16。
except OSError as err:
pass # 不用担心遇到错误，会跳过
# 请注意，有3个可能的错误。超时错误（timeout error），
# 通用错误（general purpose error）或繁忙错误
#（busy error）。“err.arg[0]”的错误代码分别
# 为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) # 颜色阈值，不同物体需要修改
size_threshold = 2000 #小球距离
x_pid = PID(p=0.1, i=0.2, imax=30) # 方向参数p
h_pid = PID(p=0.01, i=0.1, imax=100) # 速度参数p
def find_max(blobs): #找到视野中最大的色块，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 #色块的外框的中心x坐标blob[5]
h_error = max_blob[2]*max_blob[3]-size_threshold
#色块的外框的宽度blob[2],色块的外框的高度blob[3]
print("x error: ", x_error) #打印 x 轴误差 用于转弯
print("h error: ", h_error) #打印 距离误差 用于速度
'''
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调整后的值
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
#include
#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;//红外接收端口
IRrecv irrecv(RECV_PIN);
decode_results results;//结构声明
char mode = 'I'; //设置小车运行模式，默认红外模式
int Left_motor_back=4; //左电机后退(IN1)
int Left_motor_go=5; //左电机前进(IN2)
int Right_motor_go=6; // 右电机前进(IN3)
int Right_motor_back=7; // 右电机后退(IN4)
int ENA = 10; //PWM输入A
int ENB = 11; //PWM输入B
int speed_default = 100; //0-255之间,小车最低速度为70，最佳速度为100
char ch;
bool inverse_left=false;
bool inverse_right=false;
void setup()
{
//初始化电机驱动IO为输出方式
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，输出
Serial.begin(BAUD_RATE); //波特率9600
irrecv.enableIRIn(); // Start the receiver
Wire.begin();
delay(1000); // 给OpenMV一个启动的时间
}
void back() // 前进
{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH); // 左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void Break() //刹车，停车
{
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); //左轮不动
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
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);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void left() //右转(右轮不动，左轮前进)
{
digitalWrite(Right_motor_go,LOW); //右电机不动
digitalWrite(Right_motor_back,LOW);
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void spin_right() //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,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
void Run() //后退
{
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
digitalWrite(Left_motor_go,LOW); //左轮后退
digitalWrite(Left_motor_back,HIGH);
analogWrite(ENA,speed_default);
analogWrite(ENB,speed_default);
}
//=============================================================================
//读取各个按键需要用到这段代码
//=============================================================================
void read_key()
{
if(irrecv.decode(&results)){ //如果接收到信息
Serial.print("code:");
Serial.println(results.value,HEX);//results.value为16进制,unsigned long
Serial.print("bits:");
Serial.println(results.bits);//输出元位数
irrecv.resume();
}
}
//=============================================================================
//处理字符串buff
//============================================================================
void getCode(){ //buff经过传输，尾部有干扰，故用两个空格分割
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模式的小车运动
//============================================================================
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); //左轮后退
digitalWrite(Left_motor_back,HIGH);
}else{
digitalWrite(Left_motor_go,HIGH);//左电机前进
digitalWrite(Left_motor_back,LOW);
}
analogWrite(ENA,l_speed);
if(right_speed<0){
digitalWrite(Right_motor_go,LOW); //右轮后退
digitalWrite(Right_motor_back,HIGH);
}else{
digitalWrite(Right_motor_go,HIGH); // 右电机前进
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'){
//红外模式
mode = 'I';
}else if(ch == 'B'){
//蓝牙模式
mode = 'B';
}else if(ch == 'O'){
//openmv模式
mode = 'O';
}
}
if(mode == 'I'){ //红外模式控制代码
//Serial.println("红外模式");
read_key();
if(irrecv.decode(&results)){ //如果接收到信息
Serial.println(results.value);
switch(results.value){
case 0xFF18E7: //前,对应2
Run();
break;
case 0xFF4AB5: //后，对应8
back();
break;
case 0xFF10EF: //左，对应4
left();
break;
case 0xFF5AA5: //右，对应6
right();
break;
case 0xFF38C7: //停止，对应5
Break();
break;
default:
break;
}
irrecv.resume();
}
}
if(mode == 'B'){ //蓝牙模式控制代码
//Serial.println("蓝牙模式");
char ch1 = '0';
if(ch == '1'){
//前进
Run();
Serial.print("前进");
}else if(ch == '2'){
//后退
back();
Serial.print("后退");
}else if(ch == '3'){
//左转
left();
Serial.print("左转");
}else if(ch == '4'){
//右转
right();
Serial.print("右转");
}else if(ch=='0'){
//停车
Break();
Serial.print("停车");
}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模式控制代码
//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.音乐播放——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; //自行选择作为输出的接口
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);
}
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