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怎么实现循迹小车与舵机控制板的通信控制？

1597 舵机

问答对人有帮助，内容完整，我也想知道答案 0 怎么实现循迹小车与舵机控制板的通信控制？ 0
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答案对人有帮助，有参考价值 0 基于arduino的5路循迹小车（4） arduino与舵机控制板的通信控制以及语音播报模块接第一篇链接 https://blog.csdn.net/weixin_45984029/article/details/103437347 1.硬件选用 1.舵机控制板 2.语音播报模块 2.接线 1.舵机控制板开发板与舵机控制板的TX，RX交叉相连，VCC,GND对应相连 2.语音播报模块 VCC,GND与开发板对应相连语音播报模块的每一个触发端子与开发板的数字端相连（具体位置对应代码） 3.代码 #include LobotServoController myse; int Left_motor_go1 = 24; //左电机前进 AIN1 int Left_motor_back1 = 25; //左电机后退 AIN2 int Right_motor_go1 = 22; //右电机前进 BIN1 int Right_motor_back1 = 23; //右电机后退 BIN2 int Left_motor_pwm1 = 3; //左电机控速 PWMA1 int Right_motor_pwm1= 5; //右电机控速 PWMB1 int Left_motor_pwm2 = 4; //左电机控速 PWMA2 int Right_motor_pwm2= 6; //右电机控速 PWMB2 //循迹红外引脚定义 //TrackSensorLeftPin1 TrackSensorLeftPin2 TrackSensorMid TrackSensorRightPin1 TrackSensorRightPin2 // A1 A2 A3 A4 A5 const int TrackSensorLeftPin1 = A1; //定义第一个循迹红外传感器引脚为A1 const int TrackSensorLeftPin2 = A2; //定义第二个循迹红外传感器引脚为A2 const int TrackSensorMid = A3; //定义第三个循迹红外传感器引脚为A3 const int TrackSensorRightPin1 = A4; //定义第四个循迹红外传感器引脚为A4 const int TrackSensorRightPin2 = A5; //定义第五个循迹红外传感器引脚为A5 // TrackSensorRightPin3 进行计数 // A6 const int TrackSensorRightPin3 = A6; //右主计数 //定义计数变量 int JS2; //定义各个循迹红外引脚采集的数据的变量 int SLL; int SL; int SM; int SR; int SRR; int echoPin = 32; //超声波 int trigPin = 33; unsigned int S; int a; int i; int G1 = 26; int G2 = 27; int G3 = 28; int G4 = 29; int G5 = 30; void setup() { Serial.begin(9600);//超声波 Serial1.begin(9600); pinMode(13,OUTPUT); digitalWrite(13,LOW); while(!Serial1); digitalWrite(13,HIGH); pinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT); //初始化语音输出 pinMode(G1, OUTPUT); pinMode(G2, OUTPUT); pinMode(G3, OUTPUT); pinMode(G4, OUTPUT); pinMode(G5, OUTPUT); digitalWrite(G1, HIGH); digitalWrite(G2, HIGH); digitalWrite(G3, HIGH); digitalWrite(G4, HIGH); digitalWrite(G5, HIGH); //初始化电机驱动IO口为输出方式 pinMode(Left_motor_go1, OUTPUT); pinMode(Left_motor_back1, OUTPUT); pinMode(Right_motor_go1, OUTPUT); pinMode(Right_motor_back1, OUTPUT); //定义四路循迹红外传感器为输入接口 pinMode(TrackSensorLeftPin1, INPUT); pinMode(TrackSensorLeftPin2, INPUT); pinMode(TrackSensorMid,INPUT); pinMode(TrackSensorRightPin1, INPUT); pinMode(TrackSensorRightPin2, INPUT); //四路循迹红外传感器初始化为高电平 digitalWrite(TrackSensorLeftPin1, HIGH); digitalWrite(TrackSensorLeftPin2, HIGH); digitalWrite(TrackSensorMid,HIGH); digitalWrite(TrackSensorRightPin1, HIGH); digitalWrite(TrackSensorRightPin2, HIGH); digitalWrite(G1, LOW);//播报第一条语音 } void run(int left_speed, int right_speed) { //左电机前进 digitalWrite(Left_motor_go1, LOW); //左电机前进使能 digitalWrite(Left_motor_back1, HIGH); //左电机后退禁止 analogWrite(Left_motor_pwm1, LOW); analogWrite(Left_motor_pwm2, left_speed); //右电机前进 digitalWrite(Right_motor_go1, LOW); //右电机前进使能 digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止 analogWrite(Right_motor_pwm1, LOW); analogWrite(Right_motor_pwm2, right_speed); } void left(int left_speed, int right_speed) { //左电机后退 digitalWrite(Left_motor_go1, HIGH); //左电机前进禁止 digitalWrite(Left_motor_back1,LOW); //左电机后退禁止 analogWrite(Left_motor_pwm2, left_speed); analogWrite(Left_motor_pwm1,LOW); //右电机前进 digitalWrite(Right_motor_go1, LOW); //右电机前进使能 digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止 analogWrite(Right_motor_pwm2, LOW); analogWrite(Right_motor_pwm1, right_speed); } void right(int left_speed, int right_speed) { //左电机前进 digitalWrite(Left_motor_go1, LOW); //左电机前进使能 digitalWrite(Left_motor_back1, HIGH); //左电机后退禁止 analogWrite(Left_motor_pwm2, LOW); analogWrite(Left_motor_pwm1, left_speed); //右电机后退 digitalWrite(Right_motor_go1, HIGH ); //右电机前进禁止 digitalWrite(Right_motor_back1,LOW); //右电机后退禁止 analogWrite(Right_motor_pwm2, right_speed); analogWrite(Right_motor_pwm1, LOW ); } void barke(int left_speed, int right_speed) { //左电机停止 digitalWrite(Left_motor_go1, HIGH); //左电机前进使能 digitalWrite(Left_motor_back1, HIGH); //左电机后退禁止 analogWrite(Left_motor_pwm1, left_speed); analogWrite(Left_motor_pwm2, left_speed); //右电机停止 digitalWrite(Right_motor_go1, HIGH ); //右电机前进禁止 digitalWrite(Right_motor_back1,HIGH); //右电机后退禁止 analogWrite(Right_motor_pwm1, right_speed); analogWrite(Right_motor_pwm2, right_speed); } void back(int left_speed, int right_speed) { //左电机后退 digitalWrite(Left_motor_go1, HIGH); //左电机前进禁止 digitalWrite(Left_motor_back1, LOW); //左电机后退使能 analogWrite(Left_motor_pwm1, left_speed); analogWrite(Left_motor_pwm2, LOW); //右电机后退 digitalWrite(Right_motor_go1, HIGH); //右电机前进禁止 digitalWrite(Right_motor_back1, LOW); //右电机后退使能 analogWrite(Right_motor_pwm1, right_speed); analogWrite(Right_motor_pwm2, LOW); } void bank(int left_speed, int right_speed)//惯性停车 { //左电机空 digitalWrite(Left_motor_go1, LOW); //左电机前进禁止 digitalWrite(Left_motor_back1, LOW); //左电机后退禁止 analogWrite(Left_motor_pwm1, left_speed); analogWrite(Left_motor_pwm2, left_speed); //右电机空 digitalWrite(Right_motor_go1, LOW); //右电机前进禁止 digitalWrite(Right_motor_back1,LOW); //右电机后退禁止 analogWrite(Right_motor_pwm1, right_speed); analogWrite(Right_motor_pwm2, right_speed); } void xunji()//循迹 { a = 0; //检测到黑线时循迹模块相应的指示灯灭，端口电平为HIGH //未检测到黑线时循迹模块相应的指示灯亮，端口电平为LOW SLL = digitalRead(TrackSensorLeftPin1); SL = digitalRead(TrackSensorLeftPin2); SM = digitalRead(TrackSensorMid); SR = digitalRead(TrackSensorRightPin1); SRR = digitalRead(TrackSensorRightPin2); //计数 JS2 = digitalRead(TrackSensorRightPin3); //循迹 if( SM == HIGH ) { run(45,37); } if( SL == HIGH && SM == LOW) { left(35,57); } if( SLL == HIGH && SM == LOW) { left(35,57); } if( SR == HIGH && SM == LOW) { right(50,32); } if( SRR == HIGH && SM == LOW) { right(50,32); } if(SR == HIGH && SRR == HIGH) { right(50,32); } if(SL == HIGH && SLL == HIGH) { left(30,57); } if(SRR == HIGH && SR == HIGH && SM == HIGH && SL == HIGH) { right(50,32); } if(SM == HIGH && (SL == HIGH && SLL == HIGH) \|\| (SR == HIGH && SL == HIGH) \|\| (SR == HIGH && SRR == HIGH)) { run(45,37); } } void loop() { xunji();//调用循迹 if(JS2 == HIGH) { a++; i++; if(a == 1) { barke(120,120);//停车 delay(650); bank(0,0); delay(1000); if(i == 1) { digitalWrite(G2, LOW);//语音播报第二条语音 myse.runActionGroup(100,1); //运行100号识别1组 delay(2000); /scan();//识别 shangp();/ myse.runActionGroup(26,1); delay(16000); } if(i == 2) { myse.runActionGroup(100,1); //运行100号识别1组 delay(2000); /scan();//识别 shangp();/ myse.runActionGroup(27,1); delay(16000); } if(i == 3) { myse.runActionGroup(100,1); //运行100号识别1组 delay(2000); /scan();//识别 shangp();/ myse.runActionGroup(28,1); delay(16000); myse.runActionGroup(110,1); //运行110号动作组 delay(4000); bank(0,0); delay(1000); run(42,34); delay(300); run(15,8); delay(500); } if(i == 4) { myse.runActionGroup(98,1); //运行98号动作组 delay(2000); run(50,42); delay(400); return; } if(i == 5)//下料 { /scan();//识别 fangp()；/ } if(i == 6) { /scan();//识别 fangp()；/ } if(i == 7) { /scan();//识别 fangp()；/ } if(i == 8) { digitalWrite(G5, LOW); myse.runActionGroup(81,1); //运行101号识别2组 delay(16000); /myse.runActionGroup(101,1); //运行101号识别2组 delay(4000); scan();//识别 fangp()；/ } if(i == 9) { myse.runActionGroup(82,1); //运行101号识别2组 delay(16000); /myse.runActionGroup(101,1); //运行101号识别2组 delay(4000); scan();//识别 fangp()；/ } if(i == 10) { myse.runActionGroup(83,1); //运行101号识别2组 delay(16000); /myse.runActionGroup(101,1); //运行101号识别2组 delay(4000); scan();//识别 fangp()；/ } run(100,90); delay(200); return; } } range();//超声波检测 } void range() { digitalWrite(trigPin,LOW); //测距 delayMicroseconds(2); //延时2微秒 digitalWrite(trigPin,HIGH); delayMicroseconds(20); digitalWrite(trigPin,LOW); int distance = pulseIn(echoPin,HIGH); //读取高电平时间 distance = distance/58; S = distance; //把值赋给S if( S < 16 )//小于16厘米时，调用避障程序 { BZ(); } } void BZ()//避障程序 { barke(120,120); delay(600); bank(0,0); delay(300); back(45,37); delay(300); barke(120,120); delay(300); bank(0,0); delay(300); left(55,65); delay(700); run(55,55); delay(1000); right(55,45); delay(400); run(55,55); delay(1000); right(55,45); delay(400); run(55,55); delay(1046); left(55,55); delay(550); } 在IDE中必须要加载舵机控制板的库，不然无法控制舵机动作组直接保存在舵机控制板中，开发板直接调用语音播报模块低电平触发一次，播报一次对应音频文件

2021-11-1 10:03:33 评论举报王莉