[*Altar小车动起来*]5. 跟随

byran620

vickywong 发表于 2016-12-10 11:53
如果按你的接线，应该把前面的接线改成这样：
[mw_shl_code=cpp,true]const byte echo_pin = 12;
const b ...

const byte echo_pin = 12;
const byte trig_pin = 13;
const byte rangingLeft_pin = A0;
const byte rangingRight_pin = 8;
const byte inPin_leftB = 5;
const byte inPin_leftA = 6;
const byte inPin_rightA = 9;
const byte inPin_rightB = 10;

int distan;
byte rangingA;
byte rangingB;
  
void setup() {
  pinMode(echo_pin,INPUT);
  pinMode(trig_pin,OUTPUT);
  pinMode(rangingLeft_pin,INPUT);
  pinMode(rangingRight_pin,INPUT);
  pinMode(inPin_leftA,OUTPUT);
  pinMode(inPin_leftB,OUTPUT);
  pinMode(inPin_rightA,OUTPUT);
  pinMode(inPin_rightB,OUTPUT);
}
int getDistance(){
  int dist;
  digitalWrite(trig_pin,LOW);
  delayMicroseconds(2);
  digitalWrite(trig_pin,HIGH);
  delayMicroseconds(10);
  digitalWrite(trig_pin,LOW);
  dist=pulseIn(echo_pin,HIGH)/58;
  return dist;
}
void goUp(int up_speed)
{
  analogWrite(inPin_leftA,0);
  analogWrite(inPin_rightA,0);
  analogWrite(inPin_leftB,up_speed);
  analogWrite(inPin_rightB,up_speed);
}
void goLeft(int left_speed)
{
  analogWrite(inPin_leftA,left_speed);
  analogWrite(inPin_rightB,left_speed);
  analogWrite(inPin_leftB,255);
  analogWrite(inPin_rightA,255);
}
void goRight(int right_speed)
{
  analogWrite(inPin_leftB,right_speed);
  analogWrite(inPin_rightA,right_speed);
  analogWrite(inPin_leftA,255);
  analogWrite(inPin_rightB,255);
}
void goBack(int back_speed)
{
  analogWrite(inPin_leftB,back_speed);
  analogWrite(inPin_rightB,back_speed);
  analogWrite(inPin_leftA,255);
  analogWrite(inPin_rightA,255);
}
void goStop()
{
  analogWrite(inPin_leftA,0);
  analogWrite(inPin_leftB,0);
  analogWrite(inPin_rightA,0);
  analogWrite(inPin_rightB,0);
}
void loop(){
  distan = getDistance();
  rangingA = digitalRead(rangingLeft_pin);
  rangingB = digitalRead(rangingRight_pin);
    if(distan >= 2 && distan <= 10 && rangingA == 0 && rangingB == 0)
    {
      goUp(100);
    }
    else if(distan >= 2 && distan <= 10 && rangingA == 0 && rangingB == 1)
    {
      goRight(100);
      delay(100);
      goStop();
    }
    else if(distan >= 2 && distan <= 10 && rangingA == 1 && rangingB == 0)
    {
      goLeft(100);
      delay(100);
      goStop();
    }
    else
    {
      goStop();
    }
}

我上傳了你給的這個，可惜沒有任何反應，你上傳是否可運行?

vickywong

byran620 发表于 2016-12-10 23:24
const byte echo_pin = 12;
const byte trig_pin = 13;
const byte rangingLeft_pin = A0;

9楼程序验证过的，没问题。可能你的接线不一样，自己改改就好了