流程图



硬件

mega2560









// Pin 13 has an LED connected on most Arduino boards.
// give it a name:
#include<string.h>
//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<sizeof(tou);i++) {
Serial3.write(tou[i]);
err^=tou[i];
}
for(i= 0;i<sizeof(data);i++) {
Serial3.write(data[i]);
err^=data[i];
}
Serial3.write(err);
Serial.println(Serial3.read());
} /*
左转语音
*/
void laba1() {
int err=0;
int i=0;
char data[] = {0xD7,0xF3,0xD7,0xAA};
char tou[] = {0xFD,0x00,0x1f,0x01,0x00}; tou[2] = 3+sizeof(data);
for(i=0;i<sizeof(tou);i++) {
Serial3.write(tou[i]);
err^=tou[i];
}
for(i= 0;i<sizeof(data);i++) {
Serial3.write(data[i]);
err^=data[i];
}
Serial3.write(err);
Serial.println(Serial3.read());
} /*
右转语音
*/
void laba2() {
int err=0;
int i=0;
char data[] = {0xD3,0xD2,0xD7,0xAA};
char tou[] = {0xFD,0x00,0x1f,0x01,0x00}; tou[2] = 3+sizeof(data);
for(i=0;i<sizeof(tou);i++) {
Serial3.write(tou[i]);
err^=tou[i];
}
for(i= 0;i<sizeof(data);i++) {
Serial3.write(data[i]);
err^=data[i];
}
Serial3.write(err);
Serial.println(Serial3.read());
} /*
循环执行功能
*/
// the loop routine runs over and over again forever:
void loop() {
//Serial.println(time);
static int b,c = 0;
a = chaoshengbo();
a1=a/100;
if(a<100)a2=a/10;
else a2=a%100/10;
a3=a%10;
// Serial.println(a);
if(a<=15.00) {c++;}
else {c=0;}
// Serial.println(c); if(2==c) {
c=0;
digitalWrite(out1, HIGH); // turn the LED on (HIGH is the voltage level)
digitalWrite(out2, LOW); // turn the LED off by making the voltage LOW
digitalWrite(out3, LOW); // turn the LED on (HIGH is the voltage level)
digitalWrite(out4, HIGH); // turn the LED off by making the voltage LOW
delay(1000);
} if( digitalRead(busy)==0 ) laba(); digitalWrite(out1, HIGH); // turn the LED on (HIGH is the voltage level)
digitalWrite(out2, LOW); // turn the LED off by making the voltage LOW
digitalWrite(out3, HIGH); // turn the LED on (HIGH is the voltage level)
digitalWrite(out4, LOW); // turn the LED off by making the voltage LOW digitalWrite(out1, HIGH);//you cuo wu while(digitalRead(in1)==0) {
laba2();
while(digitalRead(in1)==0) {
digitalWrite(out1, HIGH); // turn the LED on (HIGH is the voltage level)
digitalWrite(out2, LOW); // turn the LED off by making the voltage LOW
digitalWrite(out3, LOW); // turn the LED on (HIGH is the voltage level)
digitalWrite(out4, HIGH); // turn the LED off by making the voltage LOW
}
digitalWrite(out2, LOW); // turn the LED on (HIGH is the voltage level)
digitalWrite(out1, LOW); // turn the LED off by making the voltage LOW
digitalWrite(out4, LOW); // turn the LED on (HIGH is the voltage level)
digitalWrite(out3, LOW); // turn the LED off by making the voltage LOW
} while(digitalRead(in2)==0) {
laba1();
while(digitalRead(in2)==0) {
digitalWrite(out2, HIGH); // turn the LED on (HIGH is the voltage level)
digitalWrite(out1, LOW); // turn the LED off by making the voltage LOW
digitalWrite(out4, LOW); // turn the LED on (HIGH is the voltage level)
digitalWrite(out3, HIGH); // turn the LED off by making the voltage LOW
}
digitalWrite(out2, LOW); // turn the LED on (HIGH is the voltage level)
digitalWrite(out1, LOW); // turn the LED off by making the voltage LOW
digitalWrite(out4, LOW); // turn the LED on (HIGH is the voltage level)
digitalWrite(out3, LOW); // turn the LED off by making the voltage LOW
}
}

arduino mega 避障报距小车的更多相关文章

  1. 具有避障和寻线功能的Arduino小车

    标签:  Arduino  乐高  机器人 创客对于成年人来说,多半是科技娱乐,或者是一种是一种向往科技的人生态度,总是希望自己不仅可以看到或者听到科技的资讯,还希望能够亲身制作科技玩意,从而更好地体 ...

  2. 【雕爷学编程】Arduino动手做(45)---红外避障传感器

    37款传感器与模块的提法,在网络上广泛流传,其实Arduino能够兼容的传感器模块肯定是不止37种的.鉴于本人手头积累了一些传感器和模块,依照实践出真知(一定要动手做)的理念,以学习和交流为目的,这里 ...

  3. [TPYBoard - Micropython 之会python就能做硬件 9] 五分种学会用TPYBoard V102 制作避障小车(升级版)

    转载请注明:@小五义 http://www.cnblogs.com/xiaowuyi 欢迎加入讨论群 64770604 感谢山东萝卜电子科技公司授权   一.实验器材 1.TPYboard V102板 ...

  4. 智能循迹避障小车&抢答器

    智能循迹避障小车 →视频链接← 抢答器

  5. [TPYBoard - Micropython之会python就能做硬件 8] 学习使用超声波模块制作避障小车

    转载请注明:@小五义 http://www.cnblogs.com/xiaowuyi 欢迎加入讨论群 64770604   一.实验器材 1.TPYboard V102板  一块 2.电机驱动模块L2 ...

  6. SLAM+语音机器人DIY系列:(六)SLAM建图与自主避障导航——2.google-cartographer机器人SLAM建图

    摘要 通过前面的基础学习,本章进入最为激动的机器人自主导航的学习.在前面的学习铺垫后,终于迎来了最大乐趣的时刻,就是赋予我们的miiboo机器人能自由行走的生命.本章将围绕机器人SLAM建图.导航避障 ...

  7. win7下Arduino Mega 2560驱动安装失败解决办法

    因为玩四轴用的apm的飞控板,而其需要安装此驱动,曾经在win8使用其,但是因为win8有相对应的数字证书保护措施(应该是这样的,因为好久了记不清楚了),以至于我每次都需要长按shift重启电脑关闭此 ...

  8. Bug避障算法简介

    移动机器人智能的一个重要标志就是自主导航,而实现机器人自主导航有个基本要求--避障.避障是指移动机器人根据采集的障碍物的状态信息,在行走过程中通过传感器感知到妨碍其通行的静态和动态物体时,按照一定的方 ...

  9. 机器人局部避障的动态窗口法(dynamic window approach) (转)

    源:机器人局部避障的动态窗口法(dynamic window approach) 首先在V_m∩V_d的范围内采样速度: allowable_v = generateWindow(robotV, ro ...

随机推荐

  1. 《DSP using MATLAB》Problem 5.9

    代码: %% ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ %% Output In ...

  2. LeetCode - Reorganize String

    Given a string S, check if the letters can be rearranged so that two characters that are adjacent to ...

  3. 企业库实现AOP的几种方法

    1.创建新对象时,分继承基类和继承接口 TargetClass theTarget = PolicyInjection.Create<TargetClass>(parameter1, pa ...

  4. tessellate Architecture

    转自:https://zalando-incubator.github.io/tessellate/ Tessellate consists of two major components: the ...

  5. oracle-pl/sql之一

    http://www.cnblogs.com/huyong/archive/2011/05/10/2041951.html#_Toc15837 SQL语言只是访问.操作数据库的语言,并不是一种具有流程 ...

  6. 论 数据库 B Tree 索引 在 固态硬盘 上 的 离散存储

    传统的做法 , 数据库 的 B Tree 索引 在 磁盘上是 顺序存储 的 , 这是考虑到 磁盘 机械读写 的 特性 . 实际上 , B Tree 是一个 树形结构 , 可以采用 链式 存储 , 就是 ...

  7. ML(7)——支持向量机1(构建支持向量机)

    支持向量机缩写是SVM(support vaector machine),这里的“机(machine)”是一个算法.在机器学习领域,常把一些算法看做是一个机器,如感知机(也叫感知器).支持向量机本身是 ...

  8. 适配器模式adepter

    1. 主要优点 无论是对象适配器模式还是类适配器模式都具有如下优点: (1) 将目标类和适配者类解耦,通过引入一个适配器类来重用现有的适配者类,无须修改原有结构.(适配者得结构 (2) 增加了类的透明 ...

  9. golang database sql DSN (Data Source Name)中的timeout, readTimeout

    golang 语言,在打开mysql DB时,有时会用到timeout,readTimeout两个参数. 1.timeout 建立连接超时时间 例如, "30s", "0 ...

  10. Visual Studio中设置Nuget程序包源

    用vs2015,默认的程序包源是Microsoft and .NET,很多常见的开源包在里面搜索不到. 这时候就需要配置一个更开放的包源,网上搜了一下,都没人提供这个问题,所以自己动脑花了一番脑经,看 ...