嵌入式四轴遥控小车开发(附带程序)

//Author: HE Qichen//Email: heqichen(a)gaishi.vicp.net//Website: http://gaishi.vicp.net//Date: 2011-5-1int status;#define LEFT_SPEED 6#define LEFT_FORWARD 7#define LEFT_BACKWARD 8#define RIGHT_SPEED 10#define RIGHT_FORWARD 11#define RIGHT_BACKWARD 12#define ULTRASONIC_ECHO 3#define ULTRASONIC_TRIG 4#define NORMAL_SPEED 100#define STOP_SPEED 0void setup(){Serial.begin(9600);setupMove();setupUltrasonic();}void loop(){unsigned int d;moveForward();d = readDistance();Serial.println(d, DEC);if (d 700){moveBackward();delay(500);turnLeft();delay(200);}}void moveForward(){analogWrite(LEFT_SPEED, NORMAL_SPEED);digitalWrite(LEFT_BACKWARD, LOW);digitalWrite(LEFT_FORWARD, HIGH);analogWrite(RIGHT_SPEED, NORMAL_SPEED);digitalWrite(RIGHT_BACKWARD, LOW);digitalWrite(RIGHT_FORWARD, HIGH);}void moveBackward(){analogWrite(LEFT_SPEED, NORMAL_SPEED);digitalWrite(LEFT_BACKWARD, HIGH);digitalWrite(LEFT_FORWARD, LOW);analogWrite(RIGHT_SPEED, NORMAL_SPEED);digitalWrite(RIGHT_BACKWARD, HIGH);digitalWrite(RIGHT_FORWARD, LOW);}void turnLeft(){analogWrite(LEFT_SPEED, NORMAL_SPEED);digitalWrite(LEFT_BACKWARD, HIGH);digitalWrite(LEFT_FORWARD, LOW);analogWrite(RIGHT_SPEED, NORMAL_SPEED);digitalWrite(RIGHT_BACKWARD, LOW);digitalWrite(RIGHT_FORWARD, HIGH);}void turnRight(){analogWrite(LEFT_SPEED, NORMAL_SPEED);digitalWrite(LEFT_BACKWARD, LOW);digitalWrite(LEFT_FORWARD, HIGH);analogWrite(RIGHT_SPEED, NORMAL_SPEED);digitalWrite(RIGHT_BACKWARD, HIGH);digitalWrite(RIGHT_FORWARD, LOW);}void moveStop(){analogWrite(LEFT_SPEED, STOP_SPEED);digitalWrite(LEFT_BACKWARD, LOW);digitalWrite(LEFT_FORWARD, LOW);analogWrite(RIGHT_SPEED, STOP_SPEED);digitalWrite(RIGHT_BACKWARD, LOW);digitalWrite(RIGHT_FORWARD, LOW);}void setupMove(){pinMode(LEFT_SPEED, OUTPUT);pinMode(LEFT_FORWARD, OUTPUT);pinMode(LEFT_BACKWARD, OUTPUT);pinMode(RIGHT_SPEED, OUTPUT);pinMode(RIGHT_FORWARD, OUTPUT);pinMode(RIGHT_BACKWARD, OUTPUT);analogWrite(LEFT_SPEED, STOP_SPEED);digitalWrite(LEFT_FORWARD, LOW);digitalWrite(LEFT_BACKWARD, LOW);analogWrite(RIGHT_SPEED, STOP_SPEED);digitalWrite(RIGHT_FORWARD, LOW);digitalWrite(RIGHT_BACKWARD, LOW);}unsigned int readDistance(){int duration;digitalWrite(ULTRASONIC_TRIG, LOW);delayMicroseconds(2);digitalWrite(ULTRASONIC_TRIG, HIGH);delayMicroseconds(5);digitalWrite(ULTRASONIC_TRIG, LOW);// The same pin is used to read the signal from the PING))): a HIGH// pulse whose duration is the time (in microseconds) from the sending// of the ping to the reception of its echo off of an object.duration = pulseIn(ULTRASONIC_ECHO, HIGH);return duration;}void setupUltrasonic(){pinMode(ULTRASONIC_TRIG, OUTPUT);pinMode(ULTRASONIC_ECHO, INPUT);digitalWrite(ULTRASONIC_TRIG, LOW);}