初學Arduino單片機的藍牙小車,倒退時小車異常

ID:564485 · 發表于 2019-11-7 21:40

代碼如下：#include <SoftwareSerial.h>

SoftwareSerial  mySerial(8,9);  //定義軟串口對象

void setup() {
  // put your setup code here, to run once:
  mySerial.begin(115200);  //藍牙接收串口
  int_car_pin();
  set_speed(140);
}
//前進--0xa
//后退--0xb
//前進--0xc
//后退--0xd
//停止--0x10
void loop() {
  // put your main code here, to run repeatedly:
  int ch = 0;

  mySerial.listen(); //表示監聽我們的軟串口數據

  while(mySerial.available() > 0)
  {
      Serial.println("Recv data : ");
      ch = mySerial.read(); //軟串口讀出，寫到arduino開發板上
      switch(ch)
      {
         case 0xa:
            car_forward();
            break;
         case 0xb:
            car_back();
            break;
         case 0xc:
            car_left();
            break;
         case 0xd:
            car_right();
            break;
         case 0x10:
            car_stop();
            break;
      }
  }
  return ;
}
--------------------------------------------------------------------------

//對應的四個電機驅動
int  IN1 = 13;  //右邊輪子
int  IN2 = 12;  //右邊輪子
int  IN3 = 11;  //左邊輪子
int  IN4 = 10;  //左邊輪子

int pwmleft  = 5;
int pwmright = 6;

void int_car_pin() {
  // put your setup code here, to run once:
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);
}

void leftMotorForward() //左邊正轉
{
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
}

void leftMotorBack() //左邊反轉
{
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);
}

void rightMotorForward() //右邊正轉
{//1
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
}

void rightMotorBack() //右邊發轉
{//2
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
}

void car_forward()
{
   leftMotorForward();
   rightMotorForward();
   delay(500);
}

void car_back()
{
   leftMotorBack();
   rightMotorBack();
   delay(500);
}

void car_left()
{
   leftMotorBack();
   rightMotorForward();
   delay(500);
   car_forward();
   delay(500);
}

void car_right()
{
   leftMotorForward();
   rightMotorBack();
   delay(500);
   car_forward();
   delay(500);
}

void car_stop()
{
   digitalWrite(IN1, LOW);
   digitalWrite(IN2, LOW);
   digitalWrite(IN3, LOW);
   digitalWrite(IN4, LOW);
   delay(500);
}
void set_speed(int speed_value)
{
   analogWrite(pwmleft, speed_value);
   analogWrite(pwmright, speed_value);
}

運行后，小車前行，哎左轉，右轉正常。
倒退時小車異常

求大神解決

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初學Arduino單片機的藍牙小車,倒退時小車異常