加装武器

git: https://gitee.com/swordfly/arduino_library.git

HRS1H-S-DC5V的原电路图：

上图是arduino中提供的HRS1H-S-DC5V继电器电路图，经过测试，个人觉得应该是下面的：

该型号内部应该是3和4不连接，6和4内部是连接的（个人推测）。

/**
 * author wjf
 * date 2017/12/30 14:23
 * 新版测试品代码备份
 * 每个长注释中的代码，都可以单独的模块运用
 */

////////////////引入头文件//////////////////////////////////////////////////
#include <IRremote.h>     // 红外
#include <Servo.h>  //舵机

//通用字符串库
#include <stdio.h>
#include <string.h>
#include <stdlib.h>

//LCD
#include <LiquidCrystal_I2C.h> //LCD
#include <Wire.h>
#include <LCD.h>

/**
 * 定义LCD对象，
 * 第一个参数0x20需要先扫描I2C地址扫描代码地址：
 * http://www.cnblogs.com/SATinnovation/p/8047240.html
 * 后面的暂时不知道什么意思，可以这么直接用
 */
LiquidCrystal_I2C lcd(0x20,2,1,0,4,5,6,7);
//////////////////////定义LCD方法////////////////////////////////////////////////////////////
void initLCD(){
  lcd.begin (16,2); // for 16 x 2 LCD module
  lcd.setBacklightPin(3,POSITIVE);
  lcd.setBacklight(HIGH);
}
void wjf_setLcd(char *str){//设置LCD显示的字符串
  lcd.home (); // set cursor to 0,0
  lcd.print(str);
  lcd.setCursor (0,1); // go to start of 2nd line
  //lcd.print(millis());
  //delay(1000);
  lcd.setBacklight(LOW); // Backlight off delay(250);
  lcd.setBacklight(HIGH); // Backlight on delay(1000);
}

/////////////机车移动电机///////////////////////////////////
//电机PIN
const int IN1=5;
const int IN2=4;
const int ENA=6;

const int IN3=8;
const int IN4=7;
const int ENB=9;
//电机速度
int speed = 100;

void Motor1_Forward(int Speed) //电机1正转，Speed值越大，电机转动越快
{
     digitalWrite(IN1,HIGH);
     digitalWrite(IN2,LOW);
     analogWrite(ENA,Speed);
}

void Motor1_Backward(int Speed) //电机1反转，Speed值越大，电机转动越快
{
     digitalWrite(IN1,LOW);
     digitalWrite(IN2,HIGH);
     analogWrite(ENA,Speed);
}
void Motor1_Brake()              //电机1刹车
{
     digitalWrite(IN1,LOW);
     digitalWrite(IN2,LOW);
}
void Motor2_Forward(int Speed) //电机2正转，Speed值越大，电机转动越快
{
     digitalWrite(IN3,HIGH);
     digitalWrite(IN4,LOW);
     analogWrite(ENB,Speed);
}

void Motor2_Backward(int Speed) //电机2反转，Speed值越大，电机转动越快
{
     digitalWrite(IN3,LOW);
     digitalWrite(IN4,HIGH);
     analogWrite(ENB,Speed);
}
void Motor2_Brake()
{
     digitalWrite(IN3,LOW);
     digitalWrite(IN4,LOW);
}
//////////千水星电机/////////////////////////////////////
const int pin2 = 2;
const int pin3 = 3;
const int pin10 = 10;
const int pin11 = 11;
//初始化千水星
void qsx_init(){
  pinMode(pin2,OUTPUT);
  pinMode(pin3,OUTPUT);
  pinMode(pin10,OUTPUT);
  pinMode(pin11,OUTPUT);
}
//电机1前进
void qsx_motor_1_forward(){
  digitalWrite(pin2,HIGH); //给高电平
  digitalWrite(pin3,LOW);  //给低电平
}
//电机2前进
void qsx_motor_2_forward(){
  digitalWrite(pin11,HIGH); //给高电平
  digitalWrite(pin10,LOW);  //给低电平
}
//电机1后退
void qsx_motor_1_backward(){
  digitalWrite(pin2,LOW);
  digitalWrite(pin3,HIGH);
}
//电机2后退
void qsx_motor_2_backward(){
  digitalWrite(pin11,LOW);
  digitalWrite(pin10,HIGH);
}
//电机1停止
void qsx_motor_1_stop(){
  digitalWrite(pin2,LOW);
  digitalWrite(pin3,LOW);
}
//电机2停止
void qsx_motor_2_stop(){
  digitalWrite(pin11,LOW);
  digitalWrite(pin10,LOW);
}

///////////定义左右舵机////////////////////////////////
//左右转舵机
const int IN28=28;
Servo myservo;
int point = 1;//0,1,2
int pos = 90;
void getLeftAndRight_left() {
  if(point == 2){
    getLeftAndRight_center();
  }
  for (pos = 30; pos < 90; pos += 1)
  {
    myservo.write(pos);
    delay(15);
  }
  point = 0;
}
void getLeftAndRight_center() {
  Serial.println(110);
  Serial.println(pos);
  if (pos == 90) {
    for (pos = 90; pos > 30; pos -= 1)
    {
      myservo.write(pos);
      delay(15);
    }
  }else if(pos == -30){
    for (pos = -30; pos < 30; pos += 1)
    {
      myservo.write(pos);
      delay(15);
    }
  }
  point = 1;

}
void getLeftAndRight_right() {
  if(point == 0){
    getLeftAndRight_center();
  }
  for (pos = 30; pos > -30; pos -= 1)
  {
    myservo.write(pos);
    delay(15);
  }
  point = 2;
}

void initLeftAndRight() {
  myservo.attach(IN28);
  myservo.write(pos);
}

///////////定义上下舵机////////////////////////////////
//上下转舵机
const int IN22=22;
Servo myservo2;
int pos2 = 90;
void getLeftAndRight_left2() {
  for (pos2 = 30; pos2 < 90; pos2 += 1)
  {
    myservo2.write(pos2);
    delay(15);
  }
}
void getLeftAndRight_center2() {
  Serial.println(110);
  Serial.println(pos2);
  if (pos2 == 90) {
    for (pos2 = 90; pos2 > 30; pos2 -= 1)
    {
      myservo2.write(pos2);
      delay(15);
    }
  }else if(pos2 == -30){
    for (pos2 = -30; pos2 < 30; pos2 += 1)
    {
      myservo2.write(pos2);
      delay(15);
    }
  }

}
void getLeftAndRight_right2() {
  for (pos2 = 30; pos2 > -30; pos2 -= 1)
  {
    myservo2.write(pos2);
    delay(15);
  }
}

void initLeftAndRight2() {
  myservo2.attach(IN22);
  myservo2.write(pos2);
}


//红外接收
int RECV_PIN = 23;
IRrecv irrecv(RECV_PIN);
decode_results results;
long control[7][3] = {//遥控器矫正数字
  {16580863, 16613503, 16597183},
  {16589023, 16621663, 16605343},
  {16584943, 16617583, 16601263},
  {16593103, 16625743, 16609423},
  {16582903, 16615543, 16599223},
  {16591063, 16623703, 16607383},
  {16586983, 16619623, 16603303}
};

//初始化电机PIN
void initMotor(){
     pinMode(IN1, OUTPUT);
     pinMode(IN2, OUTPUT);
     pinMode(ENA, OUTPUT);

     pinMode(IN4, OUTPUT);
     pinMode(IN3, OUTPUT);
     pinMode(ENB, OUTPUT);
}
//初始化红外接收
void initIR(){
     irrecv.enableIRIn();
}

////////////////定义超声波//////////////////////////////////////////////
const int echoPin = 26;//回声针脚
const int trigPin = 24;//触发针脚
float distance;//存放距离
//初始化超声波针脚
void initUltrasonic(){
    pinMode(trigPin, OUTPUT);
    pinMode(echoPin, INPUT);
}
//获取距离
void getDistance(){
    // 产生一个10us的高脉冲去触发trigPin
    digitalWrite(trigPin, LOW);
    delayMicroseconds(2);
    digitalWrite(trigPin, HIGH);
    delayMicroseconds(10);
    digitalWrite(trigPin, LOW);
    // 检测脉冲宽度，并计算出距离
    distance = pulseIn(echoPin, HIGH) / 58.00;
    Serial.print(distance);
    Serial.print("cm");
}


void setup() {
     pinMode(13, OUTPUT);
     digitalWrite(13, LOW);//打开的时候LOW改成HIGHT
     Serial.begin(9600);
     //初始电机
     initMotor();
     //初始化红外接收
     initIR();
     //初始化左右转舵机
     initLeftAndRight();
     //初始化上下转舵机
     initLeftAndRight2();
     //初始化LCD
     initLCD();
     wjf_setLcd("Hello world");
     //初始化千水星
     qsx_init();
}

void loop() {

 if (irrecv.decode(&results))
  {
    Serial.println(results.value, HEX);//以16进制换行输出接收代码

    if (results.value == 4294967295) {
      //long click

    } else {
      if (results.value == control[0][0]) {
          Motor1_Forward(speed);
      } else if (results.value == control[0][1]) {//上
          //同进
          Motor1_Forward(speed);
          Motor2_Backward(speed);
      } else if (results.value == control[0][2]) {
          Motor2_Backward(speed);
      } else if (results.value == control[1][1]) {//中
          Motor2_Brake();
          Motor1_Brake();
      } else if (results.value == control[1][2]) {//右

      } else if (results.value == control[2][0]) {
          Motor1_Backward(speed);
      } else if (results.value == control[1][0]) {//左

      } else if (results.value == control[2][1]) {//下
          //同退
          Motor1_Backward(speed);
          Motor2_Forward(speed);
      } else if (results.value == control[2][2]) {
          Motor2_Forward(speed);
      } else if (results.value == control[3][0]) {//0
          //千水星1电机前进
          qsx_motor_2_forward();
          Serial.println(0);
      } else if (results.value == control[3][1]) {
          //千水星1，2电机停止
          qsx_motor_1_stop();
          qsx_motor_2_stop();
      } else if (results.value == control[3][2]) {//st
          qsx_motor_1_forward();
          Serial.println(2);
      } else if (results.value == control[4][0]) {//1

      } else if (results.value == control[4][1]) {//2

      } else if (results.value == control[4][2]) {//3

      } else if (results.value == control[5][0]) {//4

      } else if (results.value == control[5][1]) {//5

      } else if (results.value == control[5][2]) {//6

      } else if (results.value == control[6][0]) {//7
          getDistance();//获取超声波测得的距离
      } else if (results.value == control[6][1]) {//8
          getLeftAndRight_center();
      } else if (results.value == control[6][2]) {//9
          getLeftAndRight_left();
      }
    }
    irrecv.resume(); // 接收下一个值
  }
  delay(100);
}