arduino mega 避障报距小车

流程图

硬件

mega2560

// Pin 13 has an LED connected on most Arduino boards.
// give it a name:
#include
//变量IO口定义
int a;
int a1=-1;
int a2=-1;
int a3=-1;
char a11;
char a22;
char a33;

int out13 = 13;
int in12 = 12;
int out1 = 11;
int out2 = 10;
int out3 = 9;
int out4 = 8;

int echo = 7;
int trig = 6;
int in1 = 5;
int in2 = 4;
int busy = 3;//喇叭状态

// the setup routine runs once when you press reset:
//启动 定义引脚输入输出
void setup()    {                
    // initialize the digital pin as an output.
    pinMode(out1, OUTPUT); 
    pinMode(out2, OUTPUT); 
    pinMode(out3, OUTPUT); 
    pinMode(out4, OUTPUT); 
  
    pinMode(in1,   INPUT);
    pinMode(in2,   INPUT);
  
    pinMode(in12,   INPUT);
    pinMode(out13,   OUTPUT);

    pinMode(trig,   OUTPUT);
    pinMode(echo,   INPUT);
  
    pinMode(busy,INPUT);                          //初始化串口
    do Serial3.begin(9600);while(!Serial3); 
 
    Serial.begin(9600);                     //置 0
}


/*
超声波模块
*/
int chaoshengbo(){
    unsigned long time = 0;
    int time2 = 0;
    digitalWrite(trig, LOW);
    delay(1);
    digitalWrite(trig, HIGH);
    delayMicroseconds(20);
    digitalWrite(trig, LOW);
    time = pulseIn(echo,HIGH);
    time2 = time/58;
    // Serial.println(time/58);
    delay(300);
    return time2;
}

/*
文本转语音模块
*/
void laba()    {
    int err=0;
    int i=0;
    
    if(a>=100)a11=0x30+a1;
    a22=0x30+a2;
    a33=0x30+a3;
    char data[] = {0xc7,0xb0,0xb7,0xbd,a11,a22,a33,0xc0,0xe5,0xc3,0xd7};
    char tou[] = {0xFD,0x00,0x1f,0x01,0x00};
  
    
    tou[2] = 3+sizeof(data);
    for(i=0;i

转载于:https://www.cnblogs.com/OceanF/p/9149456.html