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標(biāo)題: 藍(lán)牙小車源代碼 [打印本頁(yè)]

作者: lwtlyt 時(shí)間: 2016-4-27 16:37
標(biāo)題: 藍(lán)牙小車源代碼
教程http://www.zg4o1577.cn/bbs/dpj-44598-1.html

void motor(char pin,char pwmpin,char state,int val) {    pinMode(pin, OUTPUT);
               if(state==1) {    analogWrite(pwmpin,val);    digitalWrite(pin,1); }
               else if(state==2)  {    analogWrite(pwmpin,val); digitalWrite(pin,0);  }
               else if(state==0)  {    analogWrite(pwmpin,0);    digitalWrite(pin,0);  } }
               void runfoward(int i) { motor(4,5,1,i); motor(7,6,1,i); }
               void runback(int j) { motor(4,5,2,j); motor(7,6,2,j);  }
               void turnL(int m) { motor(4,5,1,m); motor(7,6,2,m); }
               void turnR(int n) { motor(4,5,2,n); motor(7,6,1,n); }
               void stop() { motor(4,5,0,0); motor(7,6,1,0);  }
               void setup() { Serial.begin(9600); }
               void loop() { while (Serial.available() > 0)
               {    int inChar = Serial.read();    inChar=inChar-0x30;
               if(inChar == 1)  //foward
               {       runfoward(250);       delay(300);       stop();    }
                     else if(inChar == 2)  //back
               {       runback(250);       delay(300);       stop();    }
                  else if(inChar == 3)  //R
                        {       turnR(250);       delay(300);       stop();    }
                        else if(inChar == 4)  //L
                        {       turnL(250);       delay(300);       stop();    }
                        else    {       stop();    }    inChar=0;  } }

{
pinMode(pin, OUTPUT);

  if(state==1)
  {
analogWrite(pwmpin,val);
digitalWrite(pin,1);
}
  else if(state==2)
{
analogWrite(pwmpin,val);
digitalWrite(pin,0);
}
else if(state==0)
{
analogWrite(pwmpin,0);
digitalWrite(pin,0);
}
}

void runfoward(int i)
{
  motor(4,5,1,i);
  motor(7,6,1,i);
}
void runback(int j)
{
motor(4,5,2,j);
motor(7,6,2,j);
}
void turnL(int m)
{
  motor(4,5,1,m);
  motor(7,6,2,m);
}
void turnR(int n)
{
  motor(4,5,2,n);
  motor(7,6,1,n);
}
void stop()
{
  motor(4,5,0,0);
  motor(7,6,1,0);
}
void setup()
{
  Serial.begin(9600);
}
void loop()
{
while (Serial.available() > 0) {
int inChar = Serial.read();
inChar=inChar-0x30;
   if(inChar == 1)  //foward
   {
      runfoward(250);
   delay(300);
   stop();
   }
   else if(inChar == 2)  //back
   {
   runback(250);
   delay(300);
   stop();
   }
else if(inChar == 3)  //R
   {
   turnR(250);
   delay(300);
   stop();
   }
   else if(inChar == 4)  //L
   {
   turnL(250);
   delay(300);
   stop();
   }
   else
   {
      stop();
   }
   inChar=0;
}
}

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