ZYAR20A 亚克力2驱 蓝牙 298寻迹避障机器人 —— 小车黑线循迹、避障、遥控实验综合程序

在下载到开发板之前要选择好板和端口，具体参见：

ZYAR20A 亚克力2驱 蓝牙 298寻迹避障机器人 —— Arduino相关设置

注意

红外遥控程序注意将IRremote 复制到ARDuino安装目录下面,否则编译会出现

链接：https://pan.baidu.com/s/1H7K2hdorQMiAOaZLz13qJw
提取码：ilmt

C:\Program Files (x86)\Arduino\libraries\RobotIRremote\src\IRremoteTools.cpp:5:16: error: ‘TKD2’ was not declared in this scope int RECV_PIN = TKD2; // the pin the IR receiver is connected to ^编译有误。

Arduino遥控器按键表

代码

//  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;   	//左边红外避障传感器()
const int SensorLeft_2 = 6;   	//右边红外避障传感器()

int SR_2;    //右边红外避障传感器状态
int SL_2;    //左边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(SensorLeft_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 这个函数对寻迹  壁障的PWM控制有影响  右转函数
  
   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,150); 
  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,70); 
  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()//
//irrecv.enableIRIn(); // Start the receiver 这个函数对寻迹  壁障的PWM控制有影响  右转函数
{
  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()        //右转(右轮后退，左轮前进)
////irrecv.enableIRIn(); // Start the receiver 这个函数对寻迹  壁障的PWM控制有影响  右转函数
{
  digitalWrite(Right_motor_go,LOW);   //右电机后退
  digitalWrite(Right_motor_back,HIGH);
  analogWrite(Right_motor_go,0); 
  analogWrite(Right_motor_back,150);//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 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 (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);
    SL_2 = digitalRead(SensorLeft_2);
    if (SL_2 == HIGH&&SR_2==HIGH)
      {
        run();   //调用前进函数
         digitalWrite(beep,LOW);
      }
    else if (SL_2 == HIGH & SR_2 == LOW)// 右边探测到有障碍物，有信号返回，向左转 
        spin_left();
    else if (SR_2 == HIGH & SL_2 == LOW) //左边探测到有障碍物，有信号返回，向右转  
      spin_right();
    else // 都是有障碍物, 后退
    {
        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 
    spin_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  
    spin_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);
        //irrecv.enableIRIn();
        IR_IN();    //调用遥控子程序
        break;
    default:
        break;
    }
}
void loop()
{ 
  while(1)
  {
   KeyScanTask();
   LEDTask();
   //Robot_Avoidance();
  }
  
}