小型平行履带底盘实现双灰度循迹功能

1. 功能说明

在小型平行履带底盘样机上安装2个 灰度传感器 ，实现机器人沿指定路线进行运动的效果。

2. 使用样机

本实验使用的样机为R026a样机。

3. 功能实现

3.1 电子硬件

在这个示例中，我们采用了以下硬件，请大家参考：

主控板	Basra（兼容Arduino Uno）
扩展板	Bigfish2.1
传感器	灰度传感器
电池	7.4V锂电池

3.2 编写程序

编程环境：Arduino 1.8.19

编写并烧录以下程序（2gray_blackline.ino），该程序将实现演示动图中的动作【例程源代码资料下载详见 https://www.robotway.com/h-col-114.html】

/*------------------------------------------------------------------------------------

  版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 机器谱 2023-02-09 https://www.robotway.com/

  ------------------------------

  实验接线：两个直流电机接口的针脚号分别为D5,D6以及D9,D10;灰度传感器连在A0、A4接口上                                     

------------------------------------------------------------------------------------*/

int i=0;

void Forward();

void Back();

void Turn_left();

void Turn_right();

void Speed_up();

void Slow_down();

void setup() {

  // put your setup code here, to run once:

pinMode(A0,INPUT);

pinMode(A4,INPUT);

pinMode(9,OUTPUT);

pinMode(10,OUTPUT);

pinMode(5,OUTPUT);

pinMode(6,OUTPUT);

Serial.begin(9600);

}

void loop() {

  // put your main code here, to run repeatedly:

int a=digitalRead(A0);

int b=digitalRead(A4);

Serial.println(a);

Serial.println(b);//Here is serial monitor,you will kown in later learning

if(a==0&&b==0)

Forward();

if(a==1&&b==0)

Turn_left();

if(a==0&&b==1)

Turn_right();

}

void Forward()//

{

analogWrite(9,120);

analogWrite(10,0);

analogWrite(5,120);

analogWrite(6,0);

delay(50);

}

void Back()

{

digitalWrite(9,LOW);

digitalWrite(10,HIGH);

digitalWrite(5,LOW);

digitalWrite(6,HIGH);

delay(4000);

}

void Turn_left()

{

digitalWrite(9,0);

digitalWrite(10,0);

digitalWrite(5,100);

digitalWrite(6,0);

delay(50);

}

void Turn_right()

{

digitalWrite(9,100);

digitalWrite(10,0);

digitalWrite(5,0);

digitalWrite(6,0);

delay(50);

}

void Speed_up()

{

for(i=0;i<=255;i+=5)

  {

  analogWrite(9,i);

  analogWrite(10,0);

  analogWrite(5,i);

  analogWrite(6,0);

  delay(50);

  }//speed up


}

void Slow_down()

{

for(i=255;i>=0;i-=5)

  {  

  analogWrite(9,i);

  analogWrite(10,0);

  analogWrite(5,i);

  analogWrite(6,0);

  delay(50);

  }

}

审核编辑黄宇