DAY01:Arduino硬件入门02__手把手教你组装一辆小车
5.手把手教你组装一辆小车
- 1）焊接电机线
- 如何使用电烙铁 视频链接
- 2）小车底盘安装
- 小车零件
- 安装万向轮
- 固定电机（注意螺丝的安装方向！！不然可能别轮子）
- 在小车正面固定电池，安装车轮
- 底盘安装结束
- 3）安装主板
- 准备好arduino板子、透明隔板、电池、螺丝等
- 把arduino板子固定在透明隔板上
- 把板子架高，固定在小车上。
- 准备好arduino板子、透明隔板、电池、螺丝等
- 4）安装小车电机驱动模块
- 5）安装扩展板、连线电机驱动模块、电池盒模块
- 6）红外避障模块安装与连线
- 7）红外避障模块程序烧写与调试
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- 避障模块代码如下：
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// 智能小车红外避障实验1（基础避障） //=============================================================== //#includeint Left_motor_go=8; //左电机前进(IN1) int Left_motor_back=9; //左电机后退(IN2) int Right_motor_go=10; // 右电机前进(IN3) int Right_motor_back=11; // 右电机后退(IN4) int key=A2;//定义按键 数字A2 接口 int beep=A3;//定义蜂鸣器 数字A3 接口 int LED=7;//定义LED 数字7 接口 const int SensorRight_2 = 5; //左边红外避障传感器() const int SensorLeft_2 = 6; //右边红外避障传感器() int SR_2; //右边红外避障传感器状态 int SL_2; //左边红外避障传感器状态 void setup() { //初始化电机驱动IO为输出方式 pinMode(Left_motor_go,OUTPUT); // PIN 8 ( 无 PWM) pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM) pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM) pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM) pinMode(key,INPUT);//定义按键接口为输入接口 pinMode(beep,OUTPUT);//定义蜂鸣器为输出接口 pinMode(LED,OUTPUT);//定义LED为输出接口 pinMode(SensorRight_2, INPUT); //定义中间避障传感器为输入 } //=======================智能小车的基本动作========================= //void run(int time) // 前进 void run() // 前进 { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,160);//PWM比例0~255调速，左右轮差异略增减 analogWrite(Right_motor_back,0); digitalWrite(Left_motor_go,LOW); // 左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减 analogWrite(Left_motor_back,160); //delay(time * 100); //执行时间，可以调整 } void brake() //刹车，停车 { digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); //delay(time * 100);//执行时间，可以调整 } //void left(int time) //左转(左轮不动，右轮前进) void left() //左转(左轮不动，右轮前进) { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,200); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW); //左轮后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void spin_left( ) //左转(左轮后退，右轮前进) { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,200); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,HIGH); //左轮后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,200); analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } //void right(int time) void right() //右转(右轮不动，左轮前进) { digitalWrite(Right_motor_go,LOW); //右电机后退 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW);//左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,200);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void spin_right() //右转(右轮后退，左轮前进) { digitalWrite(Right_motor_go,LOW); //右电机后退 digitalWrite(Right_motor_back,HIGH); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,200);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW);//左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,200);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void back() //后退 { digitalWrite(Right_motor_go,LOW); //右轮后退 digitalWrite(Right_motor_back,HIGH); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,150);//PWM比例0~255调速 digitalWrite(Left_motor_go,HIGH); //左轮后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,150); analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } //========================================================== void keysacn()//按键扫描 { int val; val=digitalRead(key);//读取数字7 口电平值赋给val while(!digitalRead(key))//当按键没被按下时，一直循环 { val=digitalRead(key);//此句可省略，可让循环跑空 } while(digitalRead(key))//当按键被按下时 { delay(10); //延时10ms val=digitalRead(key);//读取数字7 口电平值赋给val if(val==HIGH) //第二次判断按键是否被按下 { digitalWrite(beep,HIGH); //蜂鸣器响 while(!digitalRead(key)) //判断按键是否被松开 digitalWrite(beep,LOW); //蜂鸣器停止 } else digitalWrite(beep,LOW);//蜂鸣器停止 } } void loop() { keysacn(); //调用按键扫描函数 while(1) { //有信号为LOW 没有信号为HIGH SR_2 = digitalRead(SensorRight_2); SL_2 = digitalRead(SensorLeft_2); if (SL_2 == HIGH&&SR_2==HIGH) { run(); //调用前进函数 digitalWrite(beep,LOW); } else if (SL_2 == HIGH & SR_2 == LOW)// 右边探测到有障碍物，有信号返回，向左转 spin_left(); else if (SR_2 == HIGH & SL_2 == LOW) //左边探测到有障碍物，有信号返回，向右转 spin_right(); else // 都是有障碍物, 后退 { digitalWrite(beep,HIGH); //蜂鸣器响 //digitalWrite(LED,HIGH); //LED亮 brake();//停止200MS delay(300); back();//后退500MS delay(400); left();//调用左转函数 延时500ms delay(500); } } }
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- 8）寻迹模块安装与调试
// 智能小车黑线循迹实验 //=============================================================== //#includeint Left_motor_go=8; //左电机前进(IN1) int Left_motor_back=9; //左电机后退(IN2) int Right_motor_go=10; // 右电机前进(IN3) int Right_motor_back=11; // 右电机后退(IN4) int key=A2;//定义按键 数字A2 接口 int beep=A3;//定义蜂鸣器 数字A3 接口 const int SensorRight = 3; //右循迹红外传感器(P3.2 OUT1) const int SensorLeft = 4; //左循迹红外传感器(P3.3 OUT2) int SL; //左循迹红外传感器状态 int SR; //右循迹红外传感器状态 void setup() { //初始化电机驱动IO为输出方式 pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM) pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM) pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM) pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM) pinMode(key,INPUT);//定义按键接口为输入接口 pinMode(beep,OUTPUT); pinMode(SensorRight, INPUT); //定义右循迹红外传感器为输入 pinMode(SensorLeft, INPUT); //定义左循迹红外传感器为输入 } //=======================智能小车的基本动作========================= //void run(int time) // 前进 void run() { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,60);//PWM比例0~255调速，左右轮差异略增减 analogWrite(Right_motor_back,0); digitalWrite(Left_motor_go,LOW); // 左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减 analogWrite(Left_motor_back,60); //delay(time * 100); //执行时间，可以调整 } //void brake(int time) //刹车，停车 void brake() { digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); //delay(time * 100);//执行时间，可以调整 } //void left(int time) //左转(左轮不动，右轮前进) void left() { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,60); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW); //左轮后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void spin_left() //左转(左轮后退，右轮前进) { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,60); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,HIGH); //左轮后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,30); analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } //void right(int time) //右转(右轮不动，左轮前进) void right() { digitalWrite(Right_motor_go,LOW); //右电机后退 digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW);//左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,60);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void spin_right() //右转(右轮后退，左轮前进) { digitalWrite(Right_motor_go,LOW); //右电机后退 digitalWrite(Right_motor_back,HIGH); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,30);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW);//左电机前进 digitalWrite(Left_motor_back,HIGH); analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,60);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } //void back(int time) //后退 void back(int time) { digitalWrite(Right_motor_go,LOW); //右轮后退 digitalWrite(Right_motor_back,HIGH); analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,60);//PWM比例0~255调速 digitalWrite(Left_motor_go,HIGH); //左轮后退 digitalWrite(Left_motor_back,LOW); analogWrite(Left_motor_go,60); analogWrite(Left_motor_back,0);//PWM比例0~255调速 delay(time * 100); //执行时间，可以调整 } //========================================================== void keysacn()//按键扫描 { int val; val=digitalRead(key);//读取数字7 口电平值赋给val while(!digitalRead(key))//当按键没被按下时，一直循环 { val=digitalRead(key);//此句可省略，可让循环跑空 } while(digitalRead(key))//当按键被按下时 { delay(10); //延时10ms val=digitalRead(key);//读取数字7 口电平值赋给val if(val==HIGH) //第二次判断按键是否被按下 { digitalWrite(beep,HIGH); //蜂鸣器响 while(!digitalRead(key)) //判断按键是否被松开 digitalWrite(beep,LOW); //蜂鸣器停止 } else digitalWrite(beep,LOW);//蜂鸣器停止 } } void loop() { keysacn();//调用按键扫描函数 while(1) { //有信号为LOW 没有信号为HIGH 检测到黑线 输出高 检测到白色区域输出低 SR = digitalRead(SensorRight);//有信号表明在白色区域，车子底板上L1亮；没信号表明压在黑线上，车子底板上L1灭 SL = digitalRead(SensorLeft);//有信号表明在白色区域，车子底板上L2亮；没信号表明压在黑线上，车子底板上L2灭 if (SL == LOW&&SR==LOW) run(); //调用前进函数 else if (SL == HIGH & SR == LOW)// 左循迹红外传感器,检测到信号，车子向右偏离轨道，向左转 right(); else if (SR == HIGH & SL == LOW) // 右循迹红外传感器,检测到信号，车子向左偏离轨道，向右转 left() ; else // 都是黑色, 停止 brake(); } } 9）红外遥控
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其中，红外遥控程序中，需要增加IRremote库。
- IRremote库下载：百度网盘链接：https://pan.baidu.com/s/120ig2QjajK5gcnMY0M8-wQ 提取码：c6wt
- 下载后将IRremote 复制到Arduino安装目录下面libraries 文件夹下面 ,否则编译会出现C:\Program Files (x86)\Arduino\libraries\RobotIRremote\src\IRremoteTools.cpp:5:16: error: 'TKD2' was not declared in this scope int RECV_PIN = TKD2; // the pin the IR receiver is connected to编译有误。
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//============================启航科技======================================== // 智能小车红外遥控实验 // 实验中所用接收红外信号为配送遥控器的信号，也可打印出信号数值，配合其他红外信号控制 // 参考4.视频教程\Arduino套件视频\视频教程\例程19-红外遥控.mp4 // 本实验不可调节电机速度，调节pwm值会影响红外的信号接收 //============================================================================= #include//包含红外库 关键点 int RECV_PIN = A4;//端口声明 IRrecv irrecv(RECV_PIN); decode_results results;//结构声明 int on = 0;//标志位 unsigned long last = millis(); long run_car = 0x00FF629D;//按键CH long back_car = 0x00FFA857;//按键+ long left_car = 0x00FF22DD;//按键<< long right_car = 0x00FFC23D;//按键>|| long stop_car = 0x00FF02FD;//按键>>| long left_turn = 0x00ffE01F;//按键- long right_turn = 0x00FF906F;//按键EQ //============================== int Left_motor_go=8; //左电机前进(IN1) int Left_motor_back=9; //左电机后退(IN2) int Right_motor_go=10; // 右电机前进(IN3) int Right_motor_back=11; // 右电机后退(IN4) void setup() { //初始化电机驱动IO为输出方式 pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM) pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM) pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM) pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM) pinMode(13, OUTPUT);端口模式，输出 Serial.begin(9600); //波特率9600 irrecv.enableIRIn(); // Start the receiver } void run() // 前进 { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,200);//PWM比例0~255调速，左右轮差异略增减 //analogWrite(Right_motor_back,0); digitalWrite(Left_motor_go,LOW); // 左电机前进 digitalWrite(Left_motor_back,HIGH); //analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减 //analogWrite(Left_motor_back,200); //delay(time * 100); //执行时间，可以调整 } void brake() //刹车，停车 { digitalWrite(Right_motor_go,LOW); digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); digitalWrite(Left_motor_back,LOW); //delay(time * 100);//执行时间，可以调整 } void left() //左转(左轮不动，右轮前进) { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,200); //analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW); //左轮后退 digitalWrite(Left_motor_back,LOW); //analogWrite(Left_motor_go,0); //analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void spin_left() //左转(左轮后退，右轮前进) { digitalWrite(Right_motor_go,HIGH); // 右电机前进 digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,200); //analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,HIGH); //左轮后退 digitalWrite(Left_motor_back,LOW); //analogWrite(Left_motor_go,200); //analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void right() //右转(右轮不动，左轮前进) { digitalWrite(Right_motor_go,LOW); //右电机后退 digitalWrite(Right_motor_back,LOW); //analogWrite(Right_motor_go,0); //analogWrite(Right_motor_back,0);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW);//左电机前进 digitalWrite(Left_motor_back,HIGH); //analogWrite(Left_motor_go,0); // analogWrite(Left_motor_back,200);//PWM比例0~255调速 // delay(time * 100); //执行时间，可以调整 } void spin_right() //右转(右轮后退，左轮前进) { digitalWrite(Right_motor_go,LOW); //右电机后退 digitalWrite(Right_motor_back,HIGH); //analogWrite(Right_motor_go,0); //analogWrite(Right_motor_back,200);//PWM比例0~255调速 digitalWrite(Left_motor_go,LOW);//左电机前进 digitalWrite(Left_motor_back,HIGH); //analogWrite(Left_motor_go,0); //analogWrite(Left_motor_back,200);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void back() //后退 { digitalWrite(Right_motor_go,LOW); //右轮后退 digitalWrite(Right_motor_back,HIGH); //analogWrite(Right_motor_go,0); //analogWrite(Right_motor_back,150);//PWM比例0~255调速 digitalWrite(Left_motor_go,HIGH); //左轮后退 digitalWrite(Left_motor_back,LOW); //analogWrite(Left_motor_go,150); //analogWrite(Left_motor_back,0);//PWM比例0~255调速 //delay(time * 100); //执行时间，可以调整 } void dump(decode_results *results) { int count = results->rawlen; if (results->decode_type == UNKNOWN) { //Serial.println("Could not decode message"); brake(); } //串口打印，调试时可以打开，实际运行中会影响反应速度，建议屏蔽 /* else { if (results->decode_type == NEC) { Serial.print("Decoded NEC: "); } else if (results->decode_type == SONY) { Serial.print("Decoded SONY: "); } else if (results->decode_type == RC5) { Serial.print("Decoded RC5: "); } else if (results->decode_type == RC6) { Serial.print("Decoded RC6: "); } Serial.print(results->value, HEX); Serial.print(" ("); Serial.print(results->bits, DEC); Serial.println(" bits)"); } Serial.print("Raw ("); Serial.print(count, DEC); Serial.print("): "); for (int i = 0; i < count; i++) { if ((i % 2) == 1) { Serial.print(results->rawbuf[i]*USECPERTICK, DEC); } else { Serial.print(-(int)results->rawbuf[i]*USECPERTICK, DEC); } Serial.print(" "); } Serial.println(""); */ } void loop() { if (irrecv.decode(&results)) //调用库函数：解码 { // If it's been at least 1/4 second since the last // IR received, toggle the relay if (millis() - last > 250) //确定接收到信号 { on = !on;//标志位置反 digitalWrite(13, on ? HIGH : LOW);//板子上接收到信号闪烁一下led dump(&results);//解码红外信号 } if (results.value == run_car )//按键CH run();//前进 if (results.value == back_car )//按键+ back();//后退 if (results.value == left_car )//按键<< left();//左转 if (results.value == right_car )//按键>|| right();//右转 if (results.value == stop_car )//按键>>| brake();//停车 if (results.value == left_turn )//按键- spin_left();//左旋转 if (results.value == right_turn )//按键EQ spin_right();//右旋转 last = millis(); irrecv.resume(); // Receive the next value } }
作业(二选一，难度递增)
- 作业一（Level 1）：将小车组装完成，将课程内容记录在简书、CSDN、知乎中。（内容不限，可以是：电机的功能、红外传感器功能、生活中arduino的应用场景、如何焊接电线、我的收获、开发过程中遇到的问题与解决方案。）
- 作业二（Level 2）：学生发挥创意制作一个“会______的xxx”，不限实现方式方法，将过程记录在自己的博客中。（如：会转的风扇、会跑的独轮车）