论坛 › Arduino › 拉风的自走车

gada888 发表于 2020-4-21 18:53:24

拉风的自走车

本帖最后由 gada888 于 2020-8-4 12:55 编辑

见多了自动小车，有点审美疲劳了。就想到了DIY一个自走车。于是买了铝条和螺丝，折腾了一下午，弄出了个粗糙的玩意。结果不太满意，但过程充满了汗水。功能是通过超声传感探测到前方物体后开始转弯。由于负重较大，走的还比较笨拙。这个后面会调整。
https://v.youku.com/v_show/id_XNDY0MTk3NTg2OA==.html?spm=a2hzp.8244740.0.0



硬件清单见以下图例

arduino nano


L298N


红外避障传感



超声传感

其他一些电线，螺丝，电机等附件


项目连线图

/*

ReModified by gada888

*/


#include<NewPing.h>

int ENA = 3;
int ENB = 9;
int MOTOR_A1 = 4;
int MOTOR_A2 = 5;
int MOTOR_B1 = 6;
int MOTOR_B2 = 7;

int RIGHT = A0;
int LEFT = A1;

#define TRIG A2
#define ECHO A3
#define MAX_DISTANCE 100

NewPing sonar(TRIG, ECHO, MAX_DISTANCE);

void setup() {
// put your setup code here, to run once:

pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(MOTOR_A1, OUTPUT);
pinMode(MOTOR_A2, OUTPUT);
pinMode(MOTOR_B1, OUTPUT);
pinMode(MOTOR_B2, OUTPUT);
pinMode(RIGHT, INPUT);
pinMode(LEFT, INPUT);


}

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

delay(70);
int distance = sonar.ping_cm();
if (distance == 0) {
distance = 30;
}
if(distance <=15) {
Stop();
delay(100);
turnRight();
delay(350);
moveForward();
delay(500);
turnLeft();
delay(350);
moveForward();
delay(700);
turnLeft();
delay(300);
moveForward();
delay(400);
turnRight();
delay(400);
}
if (analogRead(RIGHT)<=35 && analogRead(LEFT)<=35) {
analogWrite(ENA, 100);
analogWrite(ENB, 100);
digitalWrite(MOTOR_A1, LOW);
digitalWrite(MOTOR_A2, HIGH);
digitalWrite(MOTOR_B1, HIGH);
digitalWrite(MOTOR_B2, LOW);

}else if (analogRead(RIGHT)<=35 && !analogRead(LEFT)<=35) {
analogWrite(ENA, 100);
analogWrite(ENB, 100);
digitalWrite(MOTOR_A1, HIGH);
digitalWrite(MOTOR_A2, LOW);
digitalWrite(MOTOR_B1, HIGH);
digitalWrite(MOTOR_B2, LOW);

}else if (!analogRead(RIGHT)<=35 && analogRead(LEFT)<=35) {
analogWrite(ENA, 100);
analogWrite(ENB, 100);
digitalWrite(MOTOR_A1, LOW);
digitalWrite(MOTOR_A2, HIGH);
digitalWrite(MOTOR_B1, LOW);
digitalWrite(MOTOR_B2, HIGH);

}else if (!analogRead(RIGHT)<=35 && !analogRead(LEFT)<=35) {

Stop();
}

}
void Stop() {
analogWrite(ENA, 0);
analogWrite(ENB, 0);
digitalWrite(MOTOR_A1, LOW);
digitalWrite(MOTOR_A2, LOW);
digitalWrite(MOTOR_B1, LOW);
digitalWrite(MOTOR_B2, LOW);
}

void turnRight() {
analogWrite(ENA, 100);
analogWrite(ENB, 100);
digitalWrite(MOTOR_A1, LOW);
digitalWrite(MOTOR_A2, HIGH);
digitalWrite(MOTOR_B1, LOW);
digitalWrite(MOTOR_B2, HIGH);

}

void turnLeft() {
analogWrite(ENA,100);
analogWrite(ENB, 100);
digitalWrite(MOTOR_A1, HIGH);
digitalWrite(MOTOR_A2, LOW);
digitalWrite(MOTOR_B1, HIGH);
digitalWrite(MOTOR_B2, LOW);
}

void moveForward() {
analogWrite(ENA, 100);
analogWrite(ENB, 100);
digitalWrite(MOTOR_A1, LOW);
digitalWrite(MOTOR_A2, HIGH);
digitalWrite(MOTOR_B1, HIGH);
digitalWrite(MOTOR_B2, LOW);
}

hnyzcj 发表于 2020-4-21 19:26:26

感觉像只虫子

云天 发表于 2020-4-21 21:25:24

看着简单，只要动手去做，就是困难重重。所以实践出真知。

rzyzzxw 发表于 2020-4-22 08:09:20

所以实践出真知。+1{:7_216:}

小刚郭 发表于 2020-4-22 10:32:12

为什么楼主这么爱车

gada888 发表于 2020-4-23 17:40:37

hnyzcj 发表于 2020-4-21 19:26
感觉像只虫子

参照的是‘人马战神’

gada888 发表于 2020-4-23 17:42:04

小刚郭 发表于 2020-4-22 10:32
为什么楼主这么爱车

已经做了发炮小车，需要一个自动避障小车，自己一个人玩时候，把两台车配合对打的

gada888 发表于 2020-4-23 17:42:57

云天 发表于 2020-4-21 21:25
看着简单，只要动手去做，就是困难重重。所以实践出真知。

累并快乐着

20060606 发表于 2020-8-4 10:33:31

机械结构能分享一下吗？

gada888 发表于 2020-8-4 12:54:44

20060606 发表于 2020-8-4 10:33
机械结构能分享一下吗？

内容更新了，看最后两张图片

20060606 发表于 2020-8-18 11:01:01

gada888 发表于 2020-8-4 12:54
内容更新了，看最后两张图片

谢谢分享

诩 发表于 2022-4-16 14:34:49

把它放地上走一下试试

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