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<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
  }
}