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標(biāo)題: 白標(biāo) 小車(chē)尋跡程序 [打印本頁(yè)]

作者: memoryaj 時(shí)間: 2018-3-13 20:08
標(biāo)題: 白標(biāo) 小車(chē)尋跡程序
int pin[3] = {A0, A4, A3};          //從左至右對(duì)應(yīng)
int velocity = 210;                      //定義速率
byte value;
byte value_his = 0; //記錄上一次的傳感器值
void setup()
{
  pinMode( 5 , OUTPUT);//右
  pinMode( 6 , OUTPUT);
  pinMode( 9 , OUTPUT);
  pinMode( 10 , OUTPUT);

}

void loop()
{

value = 0;
      for(int i=0; i<3; i++)
      {
         value |= (digitalRead(pin[i]) << i);
      }

      if(value == 0x00)
      { //當(dāng)傳感器都沒(méi)有觸發(fā)時(shí)默認(rèn)為上一次的值
      value = value_his;
      }
      switch (value)
      {
      case 0x07: //全部觸發(fā)
      Forwards();
      break;
      case 0x06: //觸發(fā)右邊兩個(gè)
      while(!digitalRead(pin[1])){ //通過(guò)while 循環(huán)使小車(chē)回到跑道中間
      Right();
      }
      break;
      case 0x04: //觸發(fā)右邊一個(gè)
      while(!digitalRead(pin[1]))
      {
      Right();
      }
      break;
      case 0x03: //觸發(fā)左邊兩個(gè)
      while(!digitalRead(pin[1]))
      {
         Left();
      }
      break;
      case 0x02: //觸發(fā)中間一個(gè)
      Forwards();
      break;
      case 0x01: //觸發(fā)左邊一個(gè)
      while(!digitalRead(pin[1]))
      {
      Left();
      }
      break;

      }
      value_his = value;

  }

void Left()
{
analogWrite( 5 ,230);//左
analogWrite( 6 ,0 );
analogWrite( 9 ,240);
analogWrite( 10 , 0);
delay(1);
}

void Right()
{
analogWrite( 5 ,230);
analogWrite( 6 , 0 );
analogWrite( 9 ,220);
analogWrite( 10 ,0 );
delay(1);
}

void Forwards()
{
analogWrite( 5 ,240 );//左
analogWrite( 6 , 0 );
analogWrite( 9 ,220);
analogWrite( 10 ,0 );
delay(1);
}
void back()
{
analogWrite( 5 , 0 );
analogWrite( 6 ,230 );
analogWrite( 9 , 0 );
analogWrite( 10 ,255 );
delay(1);
}

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