1、首先建立一個名為modulecar.ino的主程序。/ modulecar.ino，玩轉智能小車主程序#include /導入舵機庫#include /導入NwePing庫/ 對照系統配線方案依次指定各I/Oconst int ENA = 3 ; /左電機PWM const int IN1 = 4 ; /左電機正const int IN2 = 5 ; /左電機負const int ENB = 6 ; /右電機PWMconst int IN3 = 7 ; /右電機正const int IN4 = 8 ; /右電機負const int trigger = 9 ; /定義超聲波傳感器發射腳為D9co

2、nst int echo = 10 ; /定義傳感器接收腳為D10const int max_read = 300; /設定傳感器最大探測距離。int no_good = 35; /*設定35cm警戒距離。int read_ahead; /實際距離讀數。Servo sensorStation; /設定傳感器平臺。NewPing sensor(trigger, echo, max_read); /設定傳感器引腳和最大讀數/系統初始化void setup() Serial.begin(9600); /啟用串行監視器可以給調試帶來極大便利 sensorStation.attach(11); /把D1

3、1分配給舵機 pinMode(ENA, OUTPUT); /依次設定各I/O屬性 pinMode(IN1, OUTPUT); pinMode(IN2, OUTPUT); pinMode(ENB, OUTPUT); pinMode(IN3, OUTPUT); pinMode(IN4, OUTPUT); pinMode(trigger, OUTPUT); pinMode(echo, INPUT); sensorStation.write(90); /舵機復位至90 delay(6000); /上電等待6s后進入主循環/主程序void loop() read_ahead = readDistance

4、(); /調用readDistance()函數讀出前方距離 Serial.println(AHEAD:); Serial.println(read_ahead); /串行監視器顯示機器人前方距離 if (read_ahead read_left) /如果右前方距離比較大turnRight(); /就向右轉,else turnLeft(); /否則就向左轉/此處也可以加入另一層邏輯:如果左右兩側讀數相等就調用turnAround()原地掉頭。但實際上觸發的幾率不大。/ I2C液晶測試程序，Arduino版本1.5.6-r2，LiquidCrystal_I2C庫版本2.0#include #inc

5、lude LiquidCrystal_I2C.h /導入I2C液晶庫LiquidCrystal_I2C lcd(0x27,16,2); /設定I2C地址及液晶屏參數void setup() lcd.init(); / 始化液晶屏 lcd.backlight(); lcd.print(Hello, world!); /開始打印信息 lcd.setCursor(3,1); /設定顯示位置，第3列，第1行 lcd.print(ZANG.HAIBO);void loop()/前進void goForward() Serial.println(FORWARD); /串行監視器顯示機器人狀態為FORWAR

6、D（前進） /左電機逆時針旋轉 int val1 = analogRead(A0); /手動調整左電機轉速。電位器兩端分別接至+5V和GND，中心抽頭接至A0 int leftSpeed = map(val1,0,1023,0,255); /把讀數映射為PWM analogWrite(ENA,leftSpeed); /寫入速度。下面的右電機同理 digitalWrite(IN1, LOW); digitalWrite(IN2, HIGH); / 右電機順時針旋轉 int val2 = analogRead(A1); int rightSpeed = map(val2,0,1023,0,255)

7、; analogWrite(ENB,rightSpeed); digitalWrite(IN3, HIGH); digitalWrite(IN4, LOW);/ ping.ino，紅外測距模塊/ trigger腳沿用D9，echo腳換成A3int readDistance() digitalWrite(trigger,HIGH); /點亮紅外發射管 delayMicroseconds(200); /給接收管留出200s響應時間 IRvalue=analogRead(echo); /讀取自然光和紅外線下反射值的總和 digitalWrite(trigger,LOW); /關閉紅外發射管以讀取自然

8、光下的反射值 delayMicroseconds(200); /留出200s響應時間 IRvalue=IRvalue-analogRead(echo); /刨除自然光得出實際值（紅外發射管產生的部分） return map(IRvalue,120,930,30,0); /用map()函數把讀數轉換為距離代碼1：HC-SR04超聲波傳感器典型代碼digitalWrite(TrigPin, LOW);delayMicroseconds(2);digitalWrite(TrigPin, HIGH);/發送10s的高電平觸發信號delayMicroseconds(10);digitalWrite(Tr

9、igPin, LOW);distance = pulseIn(EchoPin, HIGH)*340/60/2; / 檢測脈沖寬度即為超聲波往返時間代碼2：簡易超聲波測距代碼const int TrigPin = 2; const int EchoPin = 3; /設定SR04連接的Arduino引腳float distance; void setup() / 初始化串口通信及連接SR04的引腳 Serial.begin(9600); pinMode(TrigPin, OUTPUT); / 要檢測引腳上輸入的脈沖寬度，需要先設置為輸入狀態 pinMode(EchoPin, INPUT); Se

10、rial.println(Ultrasonic sensor:); void loop() /產生一個10s的高脈沖去觸發TrigPin digitalWrite(TrigPin, LOW); delayMicroseconds(2); digitalWrite(TrigPin, HIGH); delayMicroseconds(10); digitalWrite(TrigPin, LOW); / 檢測脈沖寬度，并計算出距離 distance = pulseIn(EchoPin, HIGH) /58.00; Serial.print(distance); Serial.print(cm); S

11、erial.println(); delay(1000); 代碼3：具有溫度補償的超聲波測距代碼#include #include /設定SR04連接的Arduino引腳const int TrigPin = 2; const int EchoPin = 3; float distance; float temperature_value; #define ONE_WIRE_BUS 4OneWire oneWire(ONE_WIRE_BUS);DallasTemperature sensors(&oneWire);void setup() /初始化串口通信及連接SR04的引腳 Serial.b

12、egin(9600); pinMode(TrigPin, OUTPUT); /要檢測引腳上輸入的脈沖寬度，需要先設置為輸入狀態 pinMode(EchoPin, INPUT); sensors.begin();void loop() /產生一個10s的高脈沖去觸發TrigPin sensors.requestTemperatures(); temperature_value = sensors.getTempCByIndex(0); Serial.print(temperature = ); Serial.print(temperature_value); Serial.print(C );

13、digitalWrite(TrigPin, LOW); delayMicroseconds(2); digitalWrite(TrigPin, HIGH); delayMicroseconds(10); digitalWrite(TrigPin, LOW); /檢測脈沖寬度，并計算出距離 distance = pulseIn(EchoPin, HIGH) *(331.4+0.6*temperature_value)/2; Serial.print(distance = ); Serial.print(distance); Serial.print(cm); Serial.println();

14、delay(1000);代碼4：基于GP2D12的紅外測距系統代碼int i;float val;void setup() Serial.begin(9600);void loop() i=analogRead(A0); val=2547.8/(float)i*0.49-10.41)-0.42; Serial.println(val,2);/藍牙遙控小車/Arduino源程序/定稿日期：2016-3-16/程序功能簡介：/程序采用軟件PWM方式，控制兩支直流電機的運行行為，實現直行、后退、左轉和右轉動作。/操作者使用Android手機的藍牙功能發出指令，操控小車動作。/操作者還通過藍牙對小車的

15、動作參數進行調試。/使用自定義串口收發數據/使用軟件PWM,輸出引腳可任意制定/使用Atmega48芯片/Arduio版本#include #include #include #include usart.hunsigned int counter; /PWM計數器unsigned char wCnt = 0; /接收字計數unsigned int pwm_LH; /左電機高電平計數unsigned int pwm_RH; /右電機高電平計數unsigned char lDirect;/左電機運轉方向unsigned char rDirect;/右電機運轉方向unsigned int LP =

16、 0;unsigned int RP = 0;unsigned int LD = 0;unsigned int RD = 0;unsigned int PWM6; /存放當前PWM參數的整數型數組，全局變量unsigned char inputString8; /存輸入數據字符串變量boolean stringComplete = false;/數據串結束標志/定時器2初始化函數void timer2_init()cli();TCCR2B = 0x00; /TCNT2 = 0xF6; /TCCR2A = 0x00;TCCR2B = 0x02; /TIMSK2 = 0x01; /定時器2中斷允許

17、sei();/定時器2中斷服務函數/PWM波形產生器ISR(TIMER2_OVF_vect)TCNT2 = 0xF6; /counter+;if(counter = 0x3ff) if (rDirect = 1) bitSet(PORTD,5); else bitSet(PORTD,4); if (lDirect = 1) bitSet(PORTD,7); else bitSet(PORTD,6); counter = 0;if(counter = pwm_RH) bitClear(PORTD,4); bitClear(PORTD,5);if(counter = pwm_LH) bitClea

18、r(PORTD,6); bitClear(PORTD,7);/電機運行函數void Move(unsigned int LS,unsigned charLD,unsigned int RS,unsigned char RD) asm(BCLR 7);/關中斷pwm_LH = LS;pwm_RH = RS;lDirect = LD;rDirect = RD;asm(BSET 7);/開中斷 /獲取EEPROM數據函數/功能：從EEPROM里順序讀出六個PWM參數，存入PWM數組void GetData()unsigned char bytes2; /暫時存放PWM參數的字節數組，全局變量unsi

19、gned char i;unsigned char j;unsigned char k;for(i = 0;i 6;i+) /for循環，讀六個參數 for (j = 0;j 2;j+) /內循環，每次讀兩個字節 k = i * 2 + 1 - j; /地址計算 bytesj = EEPROM.read(k); /EEPROM讀操作 PWM= word(bytes0, bytes1); /將讀出的兩個字節合成一個PWM整數數據/數據發送函數/功能：將一個整數拆分成四個ASCII代碼，通過藍牙串口發出的函數。/例如：整數784，將拆分成; ,7,8,4四個字符void Number(int va

20、l)inttmp; /中間變量unsigned char i; /循環計數變量unsigned char buf4; /存字符數組tmp= val / 1000;buf0 = tmp + 0x30;/獲得千位val= val % 1000;tmp= val / 100;buf1 = tmp + 0x30;/獲得百位val= val % 100;tmp= val / 10;buf2 = tmp + 0x30;/獲得十位val= val % 10;buf3 = val + 0x30; /獲得個位for(i = 0;i 4;i+) if (buf= 0x30) /從高位整理，如果是0，則轉換成空格。

21、 buf= 0x20; else break;Usart_Transmit(buf0); /通過藍牙串口連續發出四個字符。Usart_Transmit(buf1);Usart_Transmit(buf2);Usart_Transmit(buf3);void setup() timer2_init();Usart_Init(9600);sei();PORTD = 0x00;DDRD= 0xF0;GetData(); /初始化PWM參數void loop() unsigned char buf6; /存連續字符的數組unsigned char index = 0; /存索引值變量unsigned

22、char i;unsigned char k;unsigned int para; /存PWM數據變量delay(500);if(stringComplete = true) /分解手機傳過來的參數 /格式是:#n%dddd k= 0; /其中：n為索引（地址）；dddd為數據 index = 0; for (i = 0;i = wCnt ;i+) if (inputString= %) index = inputStringi-1 - 0x30; /獲得索引 k = 0; else bufk = inputString- 0x30; /獲得數據 k+; para = 0; for (i = 0;i k-1;i+) para = para * 10 + buf; PWMindex = para; /將得到的整數參數立即存入對應的PWM數組單元，修改當前運行參數 buf1 = lowByte(para); /將整數轉換成兩個字節。 buf0 = highByte(para); index = index * 2; /計算EEPROM地址 EEPROM.write(index, buf1);/寫入EEPROM低位在前 index+; EEPROM.write(index, buf0);/高位在后 stringComplete = false; wCnt