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標題: MSP430F5529單片機循跡小車程序 [打印本頁]

作者: ysl990 時間: 2022-4-1 13:27
標題: MSP430F5529單片機循跡小車程序
//沒有算法，只是簡單的if選擇完成的

int  analogPinq = A0;    // potentiometer wiper (middle terminal) connected to analog pin 3
int  analogPinw = A1;// outside leads to ground and +5V

int val  = 0;          // variable to store the value read
int vak  = 0 ;
int vall = 0;          // variable to store the value read
int vakk = 0 ;
int ena = 40;
int IN1 = 39;
int IN2 = 38;

int IN3 = 37;
int IN4 = 36;
int enb = 35;

int a=1;
int b=1;
int i;
void setup()
{
  Serial.begin(9600); //  setup serial
  pinMode(ena,OUTPUT);
  pinMode(enb,OUTPUT);
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT);
  pinMode(IN3,OUTPUT);
  pinMode(IN4,OUTPUT);
  digitalWrite(ena,LOW);
  digitalWrite(ena,LOW);

}

void loop()
{

  vall= digitalRead(analogPinq);
  val = analogRead(analogPinq);
  vakk= digitalRead(analogPinw);
  vak = analogRead(analogPinw) ; //read the input pin
  Serial.print(val);          // debug value
  Serial.print("\t");
  Serial.print(vall);
  Serial.print("\t");
  Serial.print(vak);
  Serial.print("\t");
  Serial.println(vakk);
/*  for(i=0;i<=255;i++)
  {
a=i;
b=i;
}*/
if (vall==0 && vakk==0)
  {
/*digitalWrite(ena,1);
  digitalWrite(enb,1);
  analogWrite(ena,a);
  analogWrite(enb,b);*/
  analogWrite(IN1,120);
  analogWrite(IN2,0);
  analogWrite(IN3,120);
  analogWrite(IN4,0);

}
if (vall==0 && vakk==1)
  {

/*  digitalWrite(ena,1);
  digitalWrite(enb,1);
  analogWrite(ena,a);
  analogWrite(enb,b);*/
  analogWrite(IN1,0);
  analogWrite(IN2,0);
  analogWrite(IN3,120);
  analogWrite(IN4,0);

}
if (vall==1 && vakk==0)
{
/*  digitalWrite(ena,1);
  digitalWrite(enb,1);
  analogWrite(ena,a);
  analogWrite(enb,b); */
  analogWrite(IN1,120);
  analogWrite(IN2,0);
  analogWrite(IN3,0);
  analogWrite(IN4,0);

}
   if (vall==1 && vakk==1)
  {
/* digitalWrite(ena,1);
  digitalWrite(enb,1);
  analogWrite(ena,a);
  analogWrite(enb,b); */
  digitalWrite(IN1,0);
  digitalWrite(IN2,0);
  digitalWrite(IN3,0);
  digitalWrite(IN4,0);

}

}

作者: KIVENDon 時間: 2022-7-12 21:50
這是幾路循跡，謝謝

作者: 潦草 時間: 2022-7-27 16:01
兩路循跡嗎

作者: huangchong 時間: 2022-7-28 09:51
沒用pwm波？嗎用什么驅動的？

作者: wyx1234 時間: 2023-1-8 09:56
這是幾路循跡？

作者: abcd1234568 時間: 2023-7-22 11:05
兩路吧

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