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標題: 初學Arduino單片機的藍牙小車,倒退時小車異常 [打印本頁]

作者: 7686876786875 時間: 2019-11-7 21:40
標題: 初學Arduino單片機的藍牙小車,倒退時小車異常
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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