在下載到開發(fā)板之前要選擇好板和端口，具體參見：

ZYAR20A 亞克力2驅(qū) 藍牙 298尋跡避障機器人 —— Arduino相關(guān)設(shè)置

代碼

// 智能小車指定花式動作 //=============================================================== //#include <Servo.h> int Left_motor_go=8; //左電機前進(IN1) int Left_motor_back=9; //左電機后退(IN2)int Right_motor_go=10; // 右電機前進(IN3) int Right_motor_back=11; // 右電機后退(IN4)void setup() {//初始化電機驅(qū)動IO為輸出方式pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM)pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM) pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM) }void brake(int time) //剎車，停車 {digitalWrite(Right_motor_go,LOW);digitalWrite(Right_motor_back,LOW);digitalWrite(Left_motor_go,LOW);digitalWrite(Left_motor_back,LOW);delay(time * 100);//執(zhí)行時間，可以調(diào)整 } void run(int time) // 前進 {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,200);//PWM比例0~255調(diào)速，左右輪差異略增減analogWrite(Right_motor_back,0);digitalWrite(Left_motor_go,LOW); // 左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0);//PWM比例0~255調(diào)速，左右輪差異略增減analogWrite(Left_motor_back,200);delay(time * 100); //執(zhí)行時間，可以調(diào)整 } void left(int time) //左轉(zhuǎn)(左輪不動，右輪前進) {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,200); analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速digitalWrite(Left_motor_go,LOW); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速delay(time * 100); //執(zhí)行時間，可以調(diào)整 } void spin_left(int time) //左轉(zhuǎn)(左輪后退，右輪前進) {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,200); analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速digitalWrite(Left_motor_go,HIGH); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,200); analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速delay(time * 100); //執(zhí)行時間，可以調(diào)整 }void right(int time) //右轉(zhuǎn)(右輪不動，左輪前進) {digitalWrite(Right_motor_go,LOW); //右電機后退digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,0);//PWM比例0~255調(diào)速digitalWrite(Left_motor_go,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,200);//PWM比例0~255調(diào)速delay(time * 100); //執(zhí)行時間，可以調(diào)整 }void spin_right(int time) //右轉(zhuǎn)(右輪后退，左輪前進) {digitalWrite(Right_motor_go,LOW); //右電機后退digitalWrite(Right_motor_back,HIGH);analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,200);//PWM比例0~255調(diào)速digitalWrite(Left_motor_go,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,200);//PWM比例0~255調(diào)速delay(time * 100); //執(zhí)行時間，可以調(diào)整 }void back(int time) //后退 {digitalWrite(Right_motor_go,LOW); //右輪后退digitalWrite(Right_motor_back,HIGH);analogWrite(Right_motor_go,0);analogWrite(Right_motor_back,150);//PWM比例0~255調(diào)速digitalWrite(Left_motor_go,HIGH); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,150);analogWrite(Left_motor_back,0);//PWM比例0~255調(diào)速delay(time * 100); //執(zhí)行時間，可以調(diào)整 }void loop() { int i;delay(2000); //延時2s后啟動run(10);back(10);//全速前進急停后退brake(5);for(i=0;i<5;i++){run(10);//小車間斷性前進5步brake(1);}for(i=0;i<5;i++){back(10);//小車間斷性后退5步brake(1);}for(i=0;i<5;i++){left(10);//大彎套小彎連續(xù)左旋轉(zhuǎn)spin_left(5);}for(i=0;i<5;i++){right(10);//大彎套小彎連續(xù)右旋轉(zhuǎn)spin_right(5);}for(i=0;i<10;i++){right(1);//間斷性原地右轉(zhuǎn)彎brake(1);}for(i=0;i<10;i++){left(1);//間斷性原地左轉(zhuǎn)彎brake(1);}for(i=0;i<10;i++){left(3);//走S形前進right(3);}for(i=0;i<10;i++){spin_left(3);//間斷性原地左打轉(zhuǎn)brake(3);}for(i=0;i<10;i++){spin_right(3);//間斷性原地右打轉(zhuǎn)brake(3);}}

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