[問題] 問Arduino

看板ASM (組合語言)作者a128374045 (WWI)時間6年前 (2018/12/14 22:25)推噓1(1推 0噓 2→)

留言3則, 2人參與討論串1/1

大家好我現在在做紅外線循跡的程式，現在我們遇到一個問題。就是我們遇到直角時要先原地旋轉，之後在平移回來。所以我想要用if的功能寫就是平移到感應到黑線停下來，可是我不會寫，希望有人可以教我怎麼寫？或是提點一下怎麼寫？下面是我的程式 const int negR=4; const int posR=5; const int negL=6; const int posL=7; const int pwmR=9; const int pwmL=10; const int irD1=A1; const int irD2=A2; const int irD3=A3; const int Rspeed=200; const int Lspeed=200; byte IRstatus=0; void setup() { pinMode(posR,OUTPUT); pinMode(negR,OUTPUT); pinMode(posL,OUTPUT); pinMode(negL,OUTPUT); pinMode(irD1,INPUT_PULLUP); pinMode(irD2,INPUT_PULLUP); pinMode(irD3,INPUT_PULLUP); } void loop() { int val; IRstatus=0; val=analogRead(irD1); if(val>=150) IRstatus=(IRstatus+4); val=analogRead(irD2); if(val>=150) IRstatus=(IRstatus+2); val=analogRead(irD3); if(val>=150) IRstatus=(IRstatus+1); driveMotor(IRstatus); } void driveMotor(byte IRstatus) { switch(IRstatus) { case 0: forward(Rspeed,Lspeed); break; case 1: right(Rspeed,Lspeed); break; case 2: forward(Rspeed,Lspeed); break; case 3: right(Rspeed,Lspeed); break; case 4: left(Rspeed,Lspeed); break; case 5: pause(0,0); break; case 6: left(Rspeed,Lspeed); break; case 7: pause(0,0); break; } } void forward(byte RmotorSpeed, byte LmotorSpeed) { analogWrite(pwmR,RmotorSpeed); analogWrite(pwmL,LmotorSpeed); digitalWrite(posR,HIGH); digitalWrite(negR,LOW); digitalWrite(posL,LOW); digitalWrite(negL,HIGH); } void back(byte RmotorSpeed, byte LmotorSpeed) { analogWrite(pwmR,RmotorSpeed); analogWrite(pwmL,LmotorSpeed); digitalWrite(posR,LOW); digitalWrite(negR,HIGH); digitalWrite(posL,HIGH); digitalWrite(negL,LOW); } void pause(byte RmotorSpeed, byte LmotorSpeed) { analogWrite(pwmR,RmotorSpeed); analogWrite(pwmL,LmotorSpeed); digitalWrite(posR,LOW); digitalWrite(negR,LOW); digitalWrite(posL,LOW); digitalWrite(negL,LOW); } void right(byte RmotorSpeed, byte LmotorSpeed) { analogWrite(pwmR,RmotorSpeed); analogWrite(pwmL,LmotorSpeed); digitalWrite(posR,LOW); digitalWrite(negR,HIGH); digitalWrite(posL,LOW); digitalWrite(negL,HIGH); } void left(byte RmotorSpeed, byte LmotorSpeed) { analogWrite(pwmR,RmotorSpeed); analogWrite(pwmL,LmotorSpeed); digitalWrite(posR,HIGH); digitalWrite(negR,LOW); digitalWrite(posL,HIGH); digitalWrite(negL,LOW); } -- ※ 發信站: 批踢踢實業坊(ptt.cc), 來自: 27.246.34.187 ※ 文章網址: https://www.ptt.cc/bbs/ASM/M.1544797536.A.BA6.html