Arduino – rc-car : bluetooth controller & autonomous driving (with ultrasonic 1ea)
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#include <SoftwareSerial.h> SoftwareSerial BTSerial(2,3); #define motorRightAPin 6 #define motorRightBPin 5 #define motorLeftAPin 9 #define motorLeftBPin 10 #define echoPin 11 #define trigPin 12 long distances=0; long distancesL=0; long distancesR=0; char old; boolean autoCar=false; void setup() { Serial.begin(9600); BTSerial.begin(9600); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 0); analogWrite(motorRightAPin, 0); analogWrite(motorRightBPin, 0); pinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT); } void loop() { char chr; if (BTSerial.available() > 0) { chr=BTSerial.read(); if (chr=='0') { autoCar=!autoCar; } } if (autoCar) { getDistance(0); if (distances > 10) { goCar('f'); distancesL=0; distancesR=0; } else if (distances <= 10) { goCar('s'); goCar('b'); delay(400); goCar('s'); goCar('o'); delay(400); goCar('s'); getDistance(-1); delay(100); goCar('p'); delay(800); goCar('s'); getDistance(1); delay(100); if (distancesL*1 == distancesR*1 || (distancesL < 10 && distancesR)) { goCar('b'); delay(200); goCar('o'); delay(2000); } else if (distancesL > distancesR) { goCar('o'); delay(800); } else if (distancesL < distancesR) { goCar('p'); delay(300); } } BTSerial.print("F : "); BTSerial.print(distances); BTSerial.print(", L : "); BTSerial.print(distancesL); BTSerial.print(", R : "); BTSerial.println(distancesR); } else { goCar(chr); } } void getDistance(int po) { long temp=0; digitalWrite(trigPin, LOW); delayMicroseconds(2); digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW); temp=(pulseIn(echoPin, HIGH) / 29.1 ) / 2.0; if (po == 0) { distances=temp; } else if (po == -1) { distancesL=temp; } else if (po == 1) { distancesR=temp; } } void goCar(char cmd) { switch (cmd) { case 'l': case '1': analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 255); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 150); break; case 'f': case '2': if (old==cmd) { analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 255); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 255); } else { analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 150); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 150); } break; case 'r': case '3': analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 150); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 255); break; case 'o': case '4': if (old==cmd) { analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 255); analogWrite(motorLeftAPin, 255); analogWrite(motorLeftBPin, 0); } else { analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 150); analogWrite(motorLeftAPin, 150); analogWrite(motorLeftBPin, 0); } break; case 's': case '5': analogWrite(motorRightBPin, 0); analogWrite(motorRightAPin, 0); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 0); break; case 'p': case '6': if (old==cmd) { analogWrite(motorRightBPin, 255); analogWrite(motorRightAPin, 0); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 255); } else { analogWrite(motorRightBPin, 150); analogWrite(motorRightAPin, 0); analogWrite(motorLeftAPin, 0); analogWrite(motorLeftBPin, 150); } break; case 'k': case '7': analogWrite(motorRightBPin, 255); analogWrite(motorRightAPin, 0); analogWrite(motorLeftAPin, 150); analogWrite(motorLeftBPin, 0); break; case 'b': case '8': if (old==cmd) { analogWrite(motorRightBPin, 255); analogWrite(motorRightAPin, 0); analogWrite(motorLeftAPin, 255); analogWrite(motorLeftBPin, 0); } else { analogWrite(motorRightBPin, 150); analogWrite(motorRightAPin, 0); analogWrite(motorLeftAPin, 150); analogWrite(motorLeftBPin, 0); } break; case 'e': case '9': analogWrite(motorRightBPin, 150); analogWrite(motorRightAPin, 0); analogWrite(motorLeftAPin, 255); analogWrite(motorLeftBPin, 0); break; } old=cmd; } |