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

  }

}