功能介绍
用超声波作为距离检测装置，舵机作为前方扫描器，实现一个可自动蔽障小车。
STEP1：组装小车
参照安装说明。
注意事项： 按照切诺基的安装说明组装小车，完成到第3步的时候，找到套件中的Romeo BLE板子的固定孔，将Romeo BLE固定到小车底板上。如下图所示。
完成组装后，先不要急着把上面的扩展板固定上去，接下去我们进行第二步调试电机。
STEP2：调试电机
使用贴士
如您是第一次使用Arduino的新手。请先尝试走一遍“新手村”任务。
新手任务1：安装Arduino驱动，点击驱动安装教程
新手任务2：下载Blink代码，点击Blink代码下载
1. 连接电机控制引脚
在STEP1中，我们已经把四个电机(马达)固定到底板上了，想让RoMeo BLE控制小车，还需要连接到控制器上。
注意控制板上的D4、D5、D6、D7要与小车底盘上对应的四根线连接好，如示意图中四根线
2. 下载电机调试代码
既然您已经会下载代码了，请下载电机调试代码。
int speedPin_M1 = 5; //M1 Speed Control
int speedPin_M2 = 6; //M2 Speed Control
int directionPin_M1 = 4; //M1 Direction Control
int directionPin_M2 = 7; //M1 Direction Control
void setup(){
}
void loop(){
carAdvance(100,100);
delay(1000);
carBack(100,100);
delay(1000);
carTurnLeft(250,250);
delay(1000);
carTurnRight(250,250);
delay(1000);
}
void carStop(){ // Motor Stop
digitalWrite(speedPin_M2,0);
digitalWrite(directionPin_M2,LOW);
digitalWrite(speedPin_M1,0);
digitalWrite(directionPin_M1,LOW);
}
void carAdvance(int leftSpeed,int rightSpeed){ //Move FORkward
analogWrite (speedPin_M2,leftSpeed); //PWM Speed Control
digitalWrite(directionPin_M2,LOW);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M1,HIGH);
}
void carBack(int leftSpeed,int rightSpeed){ //Move BACKrward
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M2,HIGH);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M1,LOW);
}
void carTurnLeft(int leftSpeed,int rightSpeed){ //Turn Left
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M2,HIGH);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M1,HIGH);
}
void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M2,LOW);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M1,LOW);
}
3. 装上电池
所需材料：DC母头 x 1
因为RoMeo BLE不带DC接口。
上电后发现小车前进1秒后退1秒左转1秒右转1秒即为安装正确，如果发现效果与代码不匹配，可以对代码做一下微调整，根据电机的连线情况，直到匹配为止，才进行下一步。
STEP3：安装上层板
1. 准备材料
2. 固定超声波位置
可以参看超声波扫描套件的安装手册
3. 固定舵机位置
注意超声波的头要凸出到固定板外
STEP4: 调试超声波和舵机
1. 硬件连接
安装超声波传感器和支架时，需要把超声波传感器按到底，探头需要露出。
2. 下载代码
下载代码之前需要安装Metro libray
如何加载库，可见链接
#include <Servo.h>
#include <Metro.h>
Metro measureDistance = Metro(50);
Metro sweepServo = Metro(20);
unsigned long actualDistance = 0;
Servo myservo; // create servo object to control a servo
int pos = 60;
int sweepFlag = 1;
int URPWM = 3; // PWM Output 0－25000US，Every 50US represent 1cm
int URTRIG= 10; // PWM trigger pin
uint8_t EnPwmCmd[4]={0x44,0x02,0xbb,0x01}; // distance measure command
void setup(){ // Serial initialization
myservo.attach(9);
Serial.begin(9600); // Sets the baud rate to 9600
SensorSetup();
}
void loop(){
if(measureDistance.check() == 1){
actualDistance = MeasureDistance();
// Serial.println(actualDistance);
// delay(100);
}
if(sweepServo.check() == 1){
servoSweep();
}
}
void SensorSetup(){
pinMode(URTRIG,OUTPUT); // A low pull on pin COMP/TRIG
digitalWrite(URTRIG,HIGH); // Set to HIGH
pinMode(URPWM, INPUT); // Sending Enable PWM mode command
for(int i=0;i<4;i++){
Serial.write(EnPwmCmd[i]);
}
}
int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a sensor reading
digitalWrite(URTRIG, LOW);
digitalWrite(URTRIG, HIGH); // reading Pin PWM will output pulses
unsigned long distance=pulseIn(URPWM,LOW);
if(distance==50000){ // the reading is invalid.
Serial.print("Invalid");
}else{
distance=distance/50; // every 50us low level stands for 1cm
}
return distance;
}
void servoSweep(){
if(sweepFlag ){
if(pos>=60 && pos<=120){
pos=pos+1; // in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
}
if(pos>119) sweepFlag = false; // assign the variable again
}else {
if(pos>=60 && pos<=120){
pos=pos-1;
myservo.write(pos);
}
if(pos<61) sweepFlag = true;
}
}
3. 调试舵机位置
方法一：可重新安装舵盘
方法二：代码中角度做相应修改
STEP5: 整机调试
1. 固定上层板
2.下载整机调试代码
#include <Servo.h>
#include <Metro.h>
Metro measureDistance = Metro(50);
Metro sweepServo = Metro(20);
int speedPin_M1 = 5; //M1 Speed Control
int speedPin_M2 = 6; //M2 Speed Control
int directionPin_M1 = 4; //M1 Direction Control
int directionPin_M2 = 7; //M1 Direction Control
unsigned long actualDistance = 40;
Servo myservo; // create servo object to control a servo
int pos = 60;
int sweepFlag = 1;
int URPWM = 3; // PWM Output 0－25000US，Every 50US represent 1cm
int URTRIG= 10; // PWM trigger pin
uint8_t EnPwmCmd[4]={0x44,0x02,0xbb,0x01}; // distance measure command
void setup(){ // Serial initialization
myservo.attach(9);
Serial.begin(9600); // Sets the baud rate to 9600
SensorSetup();
}
void loop(){
if(measureDistance.check() == 1){
actualDistance = MeasureDistance();
// Serial.println(actualDistance);
// delay(100);
}
if(sweepServo.check() == 1){
servoSweep();
}
if(actualDistance <= 30){
myservo.write(90);
if(pos>=90){
carBack(150,150);
// Serial.println("carBack");
delay(300);
carTurnRight(150,150);
// Serial.println("carTurnRight");
delay(800);
}else{
carBack(150,150);
// Serial.println("carBack");
delay(300);
carTurnLeft(150,150);
// Serial.println("carTurnLeft");
delay(800);
}
}else{
carAdvance(150,150);
// Serial.println("carAdvance");
delay(300);
}
}
void SensorSetup(){
pinMode(URTRIG,OUTPUT); // A low pull on pin COMP/TRIG
digitalWrite(URTRIG,HIGH); // Set to HIGH
pinMode(URPWM, INPUT); // Sending Enable PWM mode command
for(int i=0;i<4;i++){
Serial.write(EnPwmCmd[i]);
}
}
int MeasureDistance(){ // a low pull on pin COMP/TRIG triggering a sensor reading
digitalWrite(URTRIG, LOW);
digitalWrite(URTRIG, HIGH); // reading Pin PWM will output pulses
unsigned long distance=pulseIn(URPWM,LOW);
if(distance==50000){ // the reading is invalid.
Serial.print("Invalid");
}else{
distance=distance/50; // every 50us low level stands for 1cm
}
return distance;
}
void carStop(){ // Motor Stop
digitalWrite(speedPin_M2,0);
digitalWrite(directionPin_M2,LOW);
digitalWrite(speedPin_M1,0);
digitalWrite(directionPin_M1,LOW);
}
void carAdvance(int leftSpeed,int rightSpeed){ //Move FORkward
analogWrite (speedPin_M2,leftSpeed); //PWM Speed Control
digitalWrite(directionPin_M2,LOW);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M1,HIGH);
}
void carBack(int leftSpeed,int rightSpeed){ //Move BACKrward
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M2,HIGH);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M1,LOW);
}
void carTurnLeft(int leftSpeed,int rightSpeed){ //Turn Left
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M2,HIGH);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M1,HIGH);
}
void carTurnRight(int leftSpeed,int rightSpeed){ //Turn Right
analogWrite (speedPin_M2,leftSpeed);
digitalWrite(directionPin_M2,LOW);
analogWrite (speedPin_M1,rightSpeed);
digitalWrite(directionPin_M1,LOW);
}
void servoSweep(){
if(sweepFlag){
if(pos>=60 && pos<=120){
pos=pos+5; // in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
}
if(pos>119) sweepFlag = false; // assign the variable again
}
else {
if(pos>=60 && pos<=120){
pos=pos-5;
myservo.write(pos);
}
if(pos<61) sweepFlag = true;
}
}
你的专属小车就此诞生！
常见问题
Q：小车装好之后不动
A:检查电源接线是否正确，电池需要为新电池，主控板中需要烧录整机调试代码.
Q:小车装好之后前面没障碍物却一直后退
A:检查超声波的接线，以及超声波模块安装是否到位（参考4.3小节的第一图）
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