机器人包老师全国青少年机器人技术等级考试四级：超声波小车调试程序代码.pdfVIP

机器人包老师全国青少年机器人技术等级考试四级

超声波小车调试程序

intfd=30;

intbd=10;

voidsetup()

{

pinMode(1OUTPUT);

pinMode(2INPUT);

pinMode(12OUTPUT);

pinMode(13OUTPUT);

Serial.begin(9600);

}

voidloop()

{

floatd=checkdistance_1_2();

Serial.println(d);

if((d=fd-bd)(d=fd+bd)){

analogWrite(5100);

analogWrite(6100);

if(dfd){

digitalWrite(12HIGH);

digitalWrite(13LOW);

forward();

}

elseif(dfd){

digitalWrite(12LOW);

digitalWrite(13HIGH);

backward();

}

else{

digitalWrite(12HIGH);

digitalWrite(13HIGH);

pause();

}

}

else{

digitalWrite(12HIGH);

digitalWrite(13HIGH);

pause();

}

}

floatcheckdistance_1_2(){

digitalWrite(1LOW);

delayMicroseconds(2);

digitalWrite(1HIGH);

delayMicroseconds(10);

digitalWrite(1LOW);

floatdistance=pulseIn(2HIGH)/58.00;

delay(10);

returndistance;

}

voidforward(){

analogWrite(8255);

analogWrite(70);

analogWrite(4255);

analogWrite(30);

}

voidbackward(){

analogWrite(80);

analogWrite(7255);

analogWrite(40);

analogWrite(3255);

}

voidturnleft(){

analogWrite(80);

analogWrite(70);

analogWrite(4255);

analogWrite(30);

}

voidturnright(){

analogWrite(8255);

analogWrite(70);

analogWrite(40);

analogWrite(30);

}

voidrotateleft(){

analogWrite(80);

analogWrite(7255);

analogWrite(4255);

analogWrite(30);

}

voidrotateright(){

analogWrite(8255);

analogWrite(70);

analogWrite(40);

analogWrite(3255);

}

voidpause(){

analogWrite(80);

analogWrite(70);

analogWrite(40);

analogWrite(30);

}