在下載到開發板之前要選擇好板和端口，具體參見：

ZYAR20A 亞克力2驅 藍牙 298尋跡避障機器人 —— Arduino相關設置

代碼

// 智能小車按鍵啟動和蜂鳴器報警 //=============================================================== //#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)int key=A2;//定義按鍵 數字A2 接口 int beep=A3;//定義蜂鳴器 數字A3 接口void setup() {//初始化電機驅動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)pinMode(key,INPUT);//定義按鍵接口為輸入接口pinMode(beep,OUTPUT); } 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調速，左右輪差異略增減analogWrite(Left_motor_back,200);delay(time * 100); //執行時間，可以調整 }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);//執行時間，可以調整 }void left(int time) //左轉(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調速delay(time * 100); //執行時間，可以調整 }void spin_left(int time) //左轉(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調速delay(time * 100); //執行時間，可以調整 }void right(int time) //右轉(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調速delay(time * 100); //執行時間，可以調整 }void spin_right(int time) //右轉(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調速delay(time * 100); //執行時間，可以調整 }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調速delay(time * 100); //執行時間，可以調整 }void keysacn() {int val;val=digitalRead(key);//讀取數字7 口電平值賦給valwhile(!digitalRead(key))//當按鍵沒被按下時，一直循環{val=digitalRead(key);//此句可省略，可讓循環跑空}while(digitalRead(key))//當按鍵被按下時{delay(10); //延時10msval=digitalRead(key);//讀取數字7 口電平值賦給valif(val==HIGH) //第二次判斷按鍵是否被按下{digitalWrite(beep,HIGH); //蜂鳴器響while(!digitalRead(key)) //判斷按鍵是否被松開digitalWrite(beep,LOW); //蜂鳴器停止}elsedigitalWrite(beep,LOW);//蜂鳴器停止} }void loop() {keysacn(); //調用按鍵掃描函數back(10); //后退1sbrake(5); //停止0.5srun(10);//前進1sbrake(5); //停止0.5sleft(10);//向左轉1sright(10);//向右轉1sspin_left(20);//向左旋轉2sspin_right(20);//向右旋轉2sbrake(5); //停車 }

總結

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