控制任务
对2驱动轮1从动轮的小车基本行走控制方法进行设计
实物图与电路设计
图1 双轮驱动小车1
图2 双轮驱动小车2
图3 双轮驱动小车3
图4 双轮驱动小车控制系统接线图
实际接线：
Arduino的引脚6,8,7分别接L298N驱动板的ENA,IN1，IN2,控制左电机，Arduino的引脚3,2,4分别接L298N驱动板的ENB,IN3，IN4,控制右电机，
程序设计
1 //控制板引脚定义 2 int motor_L_ENA = 6; //左电机控制端连接于Arduino板的6,8,7引脚 3 int motor_L_IN1 = 8; 4 int motor_L_IN2 = 7; 5 int motor_R_ENB = 2; //右电机控制端连接于Arduino板的2,3,4引脚 6 int motor_R_IN3 = 3; 7 int motor_R_IN4 = 4; 8 int low_speed = 100; //左转右转时的高速低速设定，可调整 9 int high_speed = 200; 10 11 12 13 //子函数定义 14 void go_forward_high_speed() //小车前进 全速 15 { 16 digitalWrite(motor_L_ENA, 1); //左电机正转 17 digitalWrite(motor_L_IN1, 0); 18 digitalWrite(motor_L_IN2, 1); 19 20 digitalWrite(motor_R_ENB, 1); //右电机正转 21 digitalWrite(motor_R_IN3, 0); 22 digitalWrite(motor_R_IN4, 1); 23 } 24 25 void go_backward_high_speed() //小车后退 全速 26 { 27 digitalWrite(motor_L_ENA, 1); //左电机反转 28 digitalWrite(motor_L_IN1, 1); 29 digitalWrite(motor_L_IN2, 0); 30 31 digitalWrite(motor_R_ENB, 1); //右电机反转 32 digitalWrite(motor_R_IN3, 1); 33 digitalWrite(motor_R_IN4, 0); 34 } 35 36 void stop_with_brake() //小车制动 37 { 38 digitalWrite(motor_L_ENA, 1); //左电机制动 39 digitalWrite(motor_L_IN1, 1); 40 digitalWrite(motor_L_IN2, 1) ; 41 42 digitalWrite(motor_R_ENB, 1); //右电机制动 43 digitalWrite(motor_R_IN3, 1); 44 digitalWrite(motor_R_IN4, 1) ; 45 } 46 47 void stop_free() //小车自由停止 48 { 49 digitalWrite(motor_L_ENA, 0); //左电机自由停止 50 digitalWrite(motor_L_IN1, 0); 51 digitalWrite(motor_L_IN2, 0) ; 52 53 digitalWrite(motor_R_ENB, 0); //右电机自由停止 54 digitalWrite(motor_R_IN3, 0); 55 digitalWrite(motor_R_IN4, 0) ; 56 } 57 58 void go_forward_speed_up() //小车前进 加速 59 { 60 digitalWrite(motor_L_IN1, 0); //左轮加速 61 digitalWrite(motor_L_IN2, 1); 62 for (int a = 100; a <= 255; a++) 63 { 64 analogWrite(motor_L_ENA, a); 65 delay(200); 66 } 67 68 digitalWrite(motor_R_IN3, 0); //右轮加速 69 digitalWrite(motor_R_IN4, 1); 70 for (int a = 100; a <= 255; a++) 71 { 72 analogWrite(motor_R_ENB, a); 73 delay(200); 74 } 75 } 76 77 void go_forward_speed_down() //小车前进 减速 78 { 79 digitalWrite(motor_L_IN1, 0); //左轮减速 80 digitalWrite(motor_L_IN2, 1); 81 for (int a = 255; a <= 100; a--) 82 { 83 analogWrite(motor_L_ENA, a); 84 delay(200); 85 } 86 87 digitalWrite(motor_R_IN3, 0); //右轮减速 88 digitalWrite(motor_R_IN4, 1); 89 for (int a = 255; a <= 100; a--) 90 { 91 analogWrite(motor_R_ENB, a); 92 delay(200); 93 } 94 } 95 96 void go_forward_left() //小车左转 97 { 98 digitalWrite(motor_L_IN1, 0); 99 digitalWrite(motor_L_IN2, 1); 100 analogWrite(motor_L_ENA, low_speed); //左轮低速 101 102 digitalWrite(motor_R_IN3, 0); 103 digitalWrite(motor_R_IN4, 1); 104 analogWrite(motor_R_ENB, high_speed); //右轮高速 105 } 106 107 void go_forward_right() //小车右转 108 { 109 digitalWrite(motor_L_IN1, 0); 110 digitalWrite(motor_L_IN2, 1); 111 analogWrite(motor_L_ENA, high_speed); //左轮高速 112 113 digitalWrite(motor_R_IN3, 0); 114 digitalWrite(motor_R_IN4, 1); 115 analogWrite(motor_R_ENB, low_speed); //右轮低速 116 } 117 118 119 void setup() 120 { 121 pinMode(motor_L_ENA, OUTPUT); //左电机使能和PWM调速口 122 pinMode(motor_L_IN1, OUTPUT); //左电机控制口1 123 pinMode(motor_L_IN2, OUTPUT); //左电机控制口2 124 125 pinMode(motor_R_ENB, OUTPUT); //右电机使能和PWM调速口 126 pinMode(motor_R_IN3, OUTPUT); //右电机控制口3 127 pinMode(motor_R_IN4, OUTPUT); //左电机控制口4 128 } 129 130 void loop() 131 { 132 stop_with_brake(); //制动2秒 133 delay(2000); 134 135 go_forward_speed_up(); //前进 加速 50秒 136 delay(50000); 137 go_forward_high_speed(); //前进 全速10秒 138 delay(10000); 139 go_forward_speed_down(); //前进 减速50秒 140 delay(50000); 141 stop_free(); //自由停车5秒 142 delay(5000); 143 144 go_forward_left(); //小车左转10秒，时间可调整 145 delay(10000); 146 go_forward_right(); //小车右转10秒，时间可调整 147 delay(10000); 148 stop_free(); //自由停车5秒 149 delay(5000); 150 }
运行效果
包括下列动作：小车制动，加速前进，全速前进，减速前进，自由停车，小车左转，小车右转，自由停车，循环
进一步练习
设计程序控制小车走圆形曲线或者走口字