【课程设计】2.Joystick（版本一）按键驱动小车

1. 工作内容

装配Joystick，外接HC-05蓝牙模块，使用按键实现小车上下左右跑动

2. 内容实现

Joystick 手柄模块驱动，参见我的另一篇文章：Joystick Shield拓展板驱动

版本【一】：通过按键实现小车跑动（Joy端代码）

#define PIN_ANALOG_X 0
#define PIN_ANALOG_Y 1
#define BUTTON_UP 2
#define BUTTON_RIGHT 3
#define BUTTON_DOWN 4
#define BUTTON_LEFT 5
#define BUTTON_E 6
#define BUTTON_F 7

#define WR_UP 0x01
#define WR_RIGHT 0x02
#define WR_DOWN 0x03
#define WR_LEFT 0x04

#define DELAY 40
void setup() {
  // baud=9600 8data noCheck 2stop 
   Serial.begin(9600,SERIAL_8N2);
  
   pinMode(BUTTON_UP, INPUT);
   pinMode(BUTTON_RIGHT, INPUT);
   pinMode(BUTTON_DOWN, INPUT);
   pinMode(BUTTON_LEFT, INPUT);
   pinMode(BUTTON_E, INPUT);
   pinMode(BUTTON_F, INPUT);
}
 
void loop() {
  unsigned int x,y;
  if(digitalRead(BUTTON_UP) == LOW) {
     Serial.write(WR_UP);
     delay(DELAY);
   }
   if(digitalRead(BUTTON_RIGHT) == LOW) {
     Serial.write(WR_RIGHT);
     delay(DELAY);
   }
   if(digitalRead(BUTTON_DOWN) == LOW) {
     Serial.write(WR_DOWN);
     delay(DELAY);
   }
   if(digitalRead(BUTTON_LEFT) == LOW) {
     Serial.write(WR_LEFT);
     delay(DELAY);
   }
}

版本【一】：通过按键实现小车跑动（Board端代码）
由于Arduino上每个引脚有公母头两个插口，所以L298N模块ENA和ENB分别需要2个引脚可以合并成1个，接到同一个GPIO口上，以节省IO口。

#include "motor.h"

#define UP    0x01
#define RIGHT 0x02
#define DOWN  0x03
#define LEFT  0x04

void setup() {
  //蓝牙端口
  Serial.begin(9600,SERIAL_8N2);
  
  //电机端口
  pinMode(ENA_PIN,OUTPUT); pinMode(ENB_PIN,OUTPUT);   
  pinMode(INA1_PIN,OUTPUT); pinMode(INA2_PIN,OUTPUT);
  pinMode(INB1_PIN,OUTPUT); pinMode(INB2_PIN,OUTPUT);
}

void loop() {
  unsigned char i;
  switch(Serial.read())
  {
    case UP: UP_Run(); break;
    case DOWN: DOWN_Run(); break;
    case LEFT: LEFT_Run();  break;
    case RIGHT: RIGHT_Run(); break;
    default: STOP_Run(); break;
  }
}

motor.h 头文件代码

#ifndef __MOTOR_H
#define __MOTOR_H     

#if ARDUINO >= 100
 #include "Arduino.h"
#else
 #include "WProgram.h"
#endif

#define ENA_PIN 9
#define ENB_PIN 4
#define INA1_PIN 8
#define INA2_PIN 7
#define INB1_PIN 6
#define INB2_PIN 5

#define SET_ENA() digitalWrite(ENA_PIN,HIGH)
#define CLR_ENA() digitalWrite(ENA_PIN,LOW)
#define SET_ENB() digitalWrite(ENB_PIN,HIGH)
#define CLR_ENB() digitalWrite(ENB_PIN,LOW)

#define SET_INA1() digitalWrite(INA1_PIN,HIGH)
#define CLR_INA1() digitalWrite(INA1_PIN,LOW)
#define SET_INA2() digitalWrite(INA2_PIN,HIGH)
#define CLR_INA2() digitalWrite(INA2_PIN,LOW)

#define SET_INB1() digitalWrite(INB1_PIN,HIGH) 
#define CLR_INB1() digitalWrite(INB1_PIN,LOW) 
#define SET_INB2() digitalWrite(INB2_PIN,HIGH)
#define CLR_INB2() digitalWrite(INB2_PIN,LOW)

#define SPEED_SET 7
#define SPEED_CLR 10-SPEED_SET
void UP_Run(void)
{
    unsigned char i;
    //A轮 正转
    CLR_INA1();
    SET_INA2();
    //B轮 正转
    CLR_INB1();
    SET_INB2();
    for(i=0;i<5;i++)
    {
        if(i%2==0)
        {
            CLR_ENB();
            CLR_ENA();
            delay(SPEED_CLR);
        }else
        {
            SET_ENB();
            SET_ENA();
            delay(SPEED_SET);
        }
    }
    CLR_ENB();
    CLR_ENA();
}
void DOWN_Run(void)
{
    unsigned char i;
    //A轮 反转
    SET_INA1();
    CLR_INA2();
    //B轮 反转
    SET_INB1();
    CLR_INB2();
    
    for(i=0;i<5;i++)
    {
        if(i%2==0)
        {
            CLR_ENB();
            CLR_ENA();
            delay(SPEED_CLR);
        }else
        {   
            SET_ENB();
            SET_ENA();
            delay(SPEED_SET);
        }
    }
    CLR_ENB();
    CLR_ENA();
}
void LEFT_Run(void)
{
    
    unsigned char i;
    //B轮 正转
    CLR_INB1();
    SET_INB2();
    SET_ENA();  //必须使能 否则电机不转动
    
    for(i=0;i<5;i++)
    {
        if(i%2==0)
        {
            CLR_ENB();
            delay(SPEED_CLR);
        }else
        {   
            SET_ENB();
            delay(SPEED_SET);
        }
    }
    CLR_ENB();
    CLR_ENA();
}
void RIGHT_Run(void)
{
    unsigned char i;
    //A轮 正转
    CLR_INA1();
    SET_INA2();
    SET_ENB();  //必须使能 否则电机不转动
    for(i=0;i<5;i++)
    {
        if(i%2==0)
        {
            CLR_ENA();
            delay(SPEED_CLR);
        }else
        {
            SET_ENA();
            delay(SPEED_SET);
        }
    }
    CLR_ENA();
    CLR_ENB();
}
void STOP_Run(void)
{
    CLR_ENA();
    CLR_INA1();
    CLR_INA2();

    CLR_ENB();  
    CLR_INB1();
    CLR_INB2();
}
#endif