【智能无线小车系列一】小车电机运动测试程序

下面的代码演示的是让小车直线前进的arduino程序:

/*the following codes functions to make the car run forward repeatedly*/

int pin1=8;
int pin2=9;
int speedpin1=11;
int pin3=6;
int pin4=7;
int speedpin2=10;

void setup() {
  // put your setup code here, to run once:
  pinMode(pin1,OUTPUT);
  pinMode(pin2,OUTPUT);
  pinMode(speedpin1,OUTPUT);
  pinMode(pin3,OUTPUT);
  pinMode(pin4,OUTPUT);
  pinMode(speedpin2,OUTPUT);
}

void loop() {
  // put your main code here, to run repeatedly:
      analogWrite(speedpin1,150);//set the PWM speed as 100,range from 0 to 250
      analogWrite(speedpin2,150);//set the PWM speed as 100
      digitalWrite(pin1,LOW);
      digitalWrite(pin2,HIGH);
      digitalWrite(pin3,HIGH);
      digitalWrite(pin4,LOW);
      delay(2000);    

}

下面的代码演示的通过树莓派传输控制指令控制小车基本运动：按键8:——前进，按键2——后退，按键4——左转弯，按键6——右转弯，按键5——停止。

int pin1=8;
int pin2=9;
int speedpin1=11;
int pin3=6;
int pin4=7;
int speedpin2=10;
char sign;

void setup() {
  // put your setup code here, to run once:
  pinMode(pin1,OUTPUT);
  pinMode(pin2,OUTPUT);
  pinMode(speedpin1,OUTPUT);
  pinMode(pin3,OUTPUT);
  pinMode(pin4,OUTPUT);
  pinMode(speedpin2,OUTPUT);
  Serial.begin(9600);
}

void loop() {
  // put your main code here, to run repeatedly:

    if(Serial.available())
 {
   sign=Serial.read();
   switch (sign){  

   case ‘4‘://backword
   {
      analogWrite(speedpin1,200);//set the PWM speed as 100
      analogWrite(speedpin2,200);//set the PWM speed as 100
      digitalWrite(pin1,HIGH);//set the motor run right for 2 seconds
      digitalWrite(pin2,LOW);
      digitalWrite(pin3,HIGH);
      digitalWrite(pin4,LOW);    

      break;

   }

   case ‘8‘://forward
    {
      analogWrite(speedpin1,200);//set the PWM speed as 100
      analogWrite(speedpin2,200);//set the PWM speed as 100
      digitalWrite(pin1,LOW);//set the motor run right for 2 seconds
      digitalWrite(pin2,HIGH);
      digitalWrite(pin3,HIGH);
      digitalWrite(pin4,LOW);    

      break;
    }

     case ‘6‘://right
   {
      analogWrite(speedpin1,200);//set the PWM speed as 100
      analogWrite(speedpin2,200);//set the PWM speed as 100
      digitalWrite(pin1,LOW);//set the motor run right for 2 seconds
      digitalWrite(pin2,HIGH);
      digitalWrite(pin3,LOW);
      digitalWrite(pin4,HIGH);      

      break;
   }

     case ‘2‘://left
   {
      analogWrite(speedpin1,200);//set the PWM speed as 100
      analogWrite(speedpin2,200);//set the PWM speed as 100
      digitalWrite(pin1,HIGH);//set the motor run right for 2 seconds
      digitalWrite(pin2,LOW);
      digitalWrite(pin3,LOW);
      digitalWrite(pin4,HIGH);

      break;
   }

     case ‘5‘://stop
   {
     analogWrite(speedpin1,0);//set the PWM speed as 0
     analogWrite(speedpin2,0);//set the PWM speed as 0
     break;
   }
   Serial.flush();
   }
 }

}