miehuo程序【DOC精选】.doc

unsigned int EchoPin = 9; // chaoshengboArduino单片机上的引脚 unsigned int TrigPin = 10; unsigned long Time_Echo_us = 0; unsigned long Len_mm = 0; int j=1; int a=0; int dr1=2; int dr2=4; int dl1=6; int dl2=7; int speedr=3; int speedl=5; int chedihongwai=8; int hongwai1=11; int hongwai2=16; int hongwai3=12; int hongwai4=14; int hongwai5=15; int huoyan1=17; int huoyan2=18; int huoyan3=19; void setup() { Serial.begin(9600); pinMode(EchoPin, INPUT); pinMode(TrigPin, OUTPUT); pinMode(dr1,OUTPUT); pinMode(dr2,OUTPUT); pinMode(dl1,OUTPUT); pinMode(dl2,OUTPUT); pinMode(speedr,OUTPUT); pinMode(speedl,OUTPUT); pinMode(chedihongwai, INPUT); pinMode(hongwai1, INPUT); pinMode(hongwai2, INPUT); pinMode(hongwai3, INPUT); pinMode(hongwai4, INPUT); pinMode(hongwai5, INPUT); pinMode(huoyan1, INPUT); pinMode(huoyan2, INPUT); pinMode(huoyan3, INPUT); } /*void chaoshengbo()//超声波传感器的初始化 { digitalWrite(TrigPin, HIGH); delayMicroseconds(50); //设置脉冲宽度为 50us (10us) digitalWrite(TrigPin, LOW); //结束脉冲 Time_Echo_us = pulseIn(EchoPin, HIGH); //计算 US-100 返回的脉冲宽度 if((Time_Echo_us 60000) (Time_Echo_us 1))//脉冲有效范围(1, 6000 { Len_mm = (Time_Echo_us*34/100)/2; //通过脉冲宽度计算距离. } }*/ void tong(int pwmr1,int pwml1,int d1)//电机转向相同 { analogWrite(speedr,pwmr1); digitalWrite(dr1,LOW); digitalWrite(dr2,HIGH); analogWrite(speedl,pwml1); digitalWrite(dl1,LOW); digitalWrite(dl2,HIGH); delay(d1); } void fan(int pwmr2,int pwml2,int d2)//电机转向相反 { analogWrite(speedr,pwmr2); digitalWrite(dr1,HIGH); digitalWrite(dr2,LOW); analogWrite(speedl,pwml2); digitalWrite(dl1,LOW); digitalWrite(dl2,HIGH); delay(d2); } /* void fangjian() { int i=1; while(i) { int b=digitalRead(hongwai2);//读入传感器状态(1表示无障碍物，0表示有障碍物) if(b==1) { tong(75,100,0);//zuo you pwm } int a=digitalRead(hongwai1);//读入传感器状态(1表示无障碍物，0表示有障碍物