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

注意

紅外遙控程序注意將IRremote 復制到ARDuino安裝目錄下面,否則編譯會出現

鏈接：https://pan.baidu.com/s/1H7K2hdorQMiAOaZLz13qJw
提取碼：ilmt

C:\Program Files (x86)\Arduino\libraries\RobotIRremote\src\IRremoteTools.cpp:5:16: error: ‘TKD2’ was not declared in this scope int RECV_PIN = TKD2; // the pin the IR receiver is connected to ^編譯有誤。

Arduino遙控器按鍵表

代碼

// 智能小車黑線循、紅外避障、遙控綜合實驗 //=============================================================== //#include <Servo.h> #include <IRremote.h>//包含紅外庫 關鍵點 int RECV_PIN = A4;//端口聲明 IRrecv irrecv(RECV_PIN); decode_results results;//結構聲明 int on = 0;//標志位 unsigned long last = millis();long run_car = 0x00FF629D;//按鍵CH long back_car = 0x00FFA857;//按鍵+ long left_car = 0x00FF22DD;//按鍵<< long right_car = 0x00FFC23D;//按鍵>|| long stop_car = 0x00FF02FD;//按鍵>>| long left_turn = 0x00ffE01F;//按鍵- long right_turn = 0x00FF906F;//按鍵EQint 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)#define PORT_KEY A2 //定義按鍵 數字A2 接口 #define PORT_LED1 7 //定義LED 數字7 接口 #define PORT_LED2 12 //定義LED2 數字12 接口 int beep=A3;//定義蜂鳴器 數字A3 接口#define KEYMODE_1 1 // 定義按鍵模式1 #define KEYMODE_2 2 // 定義按鍵模式2 #define KEYMODE_3 3 // 定義按鍵模式3 uint8_t keyMode; //指無符號8bit整型數 const int SensorRight = 3; //右循跡紅外傳感器(P3.2 OUT1) const int SensorLeft = 4; //左循跡紅外傳感器(P3.3 OUT2) const int SensorRight_2 = 5; //左邊紅外避障傳感器() const int SensorLeft_2 = 6; //右邊紅外避障傳感器()int SR_2; //右邊紅外避障傳感器狀態 int SL_2; //左邊紅外避障傳感器狀態 int SL; //左循跡紅外傳感器狀態 int SR; //右循跡紅外傳感器狀態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(beep,OUTPUT);pinMode(SensorRight, INPUT); //定義右循跡紅外傳感器為輸入pinMode(SensorLeft, INPUT); //定義左循跡紅外傳感器為輸入pinMode(SensorRight_2, INPUT); //定義右紅外傳感器為輸入pinMode(SensorLeft_2, INPUT); //定義右紅外傳感器為輸入pinMode(13, OUTPUT);端口模式，輸出Serial.begin(9600); //波特率9600irrecv.enableIRIn(); // Start the receiver 這個函數對尋跡 壁障的PWM控制有影響 右轉函數KeyScanInit();LEDInit(); } //=======================智能小車的基本動作 遙控控制單獨用電機驅動函數========================= // 遙控實驗不可調節電機速度，調節pwm值會影響紅外的信號接收 void run2() // 前進 {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW); digitalWrite(Left_motor_go,LOW); // 左電機前進digitalWrite(Left_motor_back,HIGH);}void brake2() //剎車，停車 {digitalWrite(Right_motor_go,LOW);digitalWrite(Right_motor_back,LOW);digitalWrite(Left_motor_go,LOW);digitalWrite(Left_motor_back,LOW);}void left2() //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);digitalWrite(Left_motor_go,LOW); //左輪后退digitalWrite(Left_motor_back,LOW);}void spin_left2() //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);digitalWrite(Left_motor_go,HIGH); //左輪后退digitalWrite(Left_motor_back,LOW); }void right2() //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);digitalWrite(Left_motor_go,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH); }void spin_right2() //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);digitalWrite(Left_motor_go,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH); }void back2() //后退 {digitalWrite(Right_motor_go,LOW); //右輪后退digitalWrite(Right_motor_back,HIGH);digitalWrite(Left_motor_go,HIGH); //左輪后退digitalWrite(Left_motor_back,LOW); }//=======================智能小車的基本動作========================= //void run(int time) // 前進 void run() {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,150);//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,150);//delay(time * 100); //執行時間，可以調整 }//void brake(int time) //剎車，停車 void brake() {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) void left() {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,150); 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() //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,150); 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,70); 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) void right()// //irrecv.enableIRIn(); // Start the receiver 這個函數對尋跡 壁障的PWM控制有影響 右轉函數 {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,150);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }void spin_right() //右轉(右輪后退，左輪前進) irrecv.enableIRIn(); // Start the receiver 這個函數對尋跡 壁障的PWM控制有影響 右轉函數 {digitalWrite(Right_motor_go,LOW); //右電機后退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,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,150);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }//void back(int time) //后退 void back() {digitalWrite(Right_motor_go,LOW); //右輪后退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,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 dump(decode_results *results) {int count = results->rawlen;if (results->decode_type == UNKNOWN) {//Serial.println("Could not decode message");brake();} } void IR_IN() //機器人遙控子程序 {if (irrecv.decode(&results)) //調用庫函數：解碼{if (millis() - last > 250) //確定接收到信號{on = !on;//標志位置反digitalWrite(13, on ? HIGH : LOW);//板子上接收到信號閃爍一下leddump(&results);//解碼紅外信號}if (results.value == run_car )//按鍵CHrun2();//前進if (results.value == back_car )//按鍵+back2();//后退if (results.value == left_car )//按鍵<<left2();//左轉if (results.value == right_car )//按鍵>||right2();//右轉if (results.value == stop_car )//按鍵>>|brake2();//停車if (results.value == left_turn )//按鍵-spin_left2();//左旋轉if (results.value == right_turn )//按鍵EQspin_right2();//右旋轉last = millis(); irrecv.resume(); // Receive the next value}} void Robot_Avoidance() //機器人避障子程序 {//有信號為LOW 沒有信號為HIGHSR_2 = digitalRead(SensorRight_2);SL_2 = digitalRead(SensorLeft_2);if (SL_2 == HIGH&&SR_2==HIGH){run(); //調用前進函數digitalWrite(beep,LOW);}else if (SL_2 == HIGH & SR_2 == LOW)// 右邊探測到有障礙物，有信號返回，向左轉 spin_left();else if (SR_2 == HIGH & SL_2 == LOW) //左邊探測到有障礙物，有信號返回，向右轉 spin_right();else // 都是有障礙物, 后退{digitalWrite(beep,HIGH); //蜂鳴器響//digitalWrite(LED,HIGH); //LED亮brake();//停止200MSdelay(300);back();//后退500MSdelay(400);left();//調用左轉函數 延時500ms delay(500); } } void Robot_Traction() //機器人循跡子程序 {//有信號為LOW 沒有信號為HIGHSR = digitalRead(SensorRight);//有信號表明在白色區域，車子底板上L1亮；沒信號表明壓在黑線上，車子底板上L1滅SL = digitalRead(SensorLeft);//有信號表明在白色區域，車子底板上L2亮；沒信號表明壓在黑線上，車子底板上L2滅if (SL == LOW&&SR==LOW)run(); //調用前進函數else if (SL == HIGH & SR == LOW)// 左循跡紅外傳感器,檢測到信號，車子向右偏離軌道，向左轉 spin_left();else if (SR == HIGH & SL == LOW) // 右循跡紅外傳感器,檢測到信號，車子向左偏離軌道，向右轉 spin_right();else // 都是白色, 停止brake();} // 按鍵處理初始化 void KeyScanInit(void) {pinMode(PORT_KEY,INPUT_PULLUP); //輸入模式，內部上拉。keyMode = KEYMODE_1; }// 任務：按鍵處理 void KeyScanTask(void)// {static uint8_t keypre = 0; //按鍵被按下時置1.if( (keypre == 0) && (digitalRead(PORT_KEY) == HIGH) ) //按鍵被按下{keypre = 1; //置1，避免持續按下按鍵時再次進入此函數體。switch(keyMode){case KEYMODE_1:keyMode = KEYMODE_2; //關鍵點錯位賦值break;case KEYMODE_2:keyMode = KEYMODE_3;break;case KEYMODE_3:keyMode = KEYMODE_1;break;default:break;}}if(digitalRead(PORT_KEY) == LOW) //按鍵被放開{keypre = 0; //置0，允許再次切換LED模式} } // LED初始化 void LEDInit(void) {pinMode(PORT_LED1,OUTPUT);pinMode(PORT_LED2,OUTPUT);digitalWrite(PORT_LED1,LOW);digitalWrite(PORT_LED2,LOW); } // 任務：循跡、避障、遙控模式處理 void LEDTask(void) {switch(keyMode){case KEYMODE_1:digitalWrite(PORT_LED1,HIGH);digitalWrite(PORT_LED2,LOW);Robot_Traction(); //調用循跡子程序break;case KEYMODE_2:digitalWrite(PORT_LED1,LOW);digitalWrite(PORT_LED2,HIGH);Robot_Avoidance(); // 調用避障子程序break;case KEYMODE_3:digitalWrite(PORT_LED1,HIGH);digitalWrite(PORT_LED2,HIGH);//irrecv.enableIRIn();IR_IN(); //調用遙控子程序break;default:break;} } void loop() { while(1){KeyScanTask();LEDTask();//Robot_Avoidance();}}

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