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Arduino遥控小车

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遥控车

微信图片_20220418160239

传感器目录

电机

四个直流电机

image-20220224212931529

电机电源

4节5号可充电电池

image-20220224212145164

电机驱动

H桥电路模块

image-20220224213012196

控制电路电源

9V可充电电池

image-20220224212231877

DC-DC 12V转5V/3.3V电路板

image-20220224212657721

控制模块

Arduino Nano

image-20220224212757816

通信模块

HC-12无线数传模块（广州汇承信息科技有限公司）

注意该模块比特率需要设置为9600。

image-20220224212821848

遥控模块

摇杆

image-20220224213142585

小车Arduino程序

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#include <SoftwareSerial.h>

SoftwareSerial softSerial(10, 11);  // RX, TX （RX接设备的TX，TX接设备的RX）

int back1 = 2; // 左IA2
int front1 = 3; // 左IB2
int back2 = 4; // 左IA1
int front2 = 5; // 左IB1
int back3 = 6; // 右IA2
int front3 = 7; // 右IB2
int back4 = 8; // 右IA1
int front4 = 9; // 右IB1
String command = "";  // 用户发送的命令

void initMoto() {
  // 电平为LOW触发
  digitalWrite(back1, HIGH);
  digitalWrite(front1, HIGH);
  digitalWrite(back2, HIGH);
  digitalWrite(front2, HIGH);
  digitalWrite(back3, HIGH);
  digitalWrite(front3, HIGH);
  digitalWrite(back4, HIGH);
  digitalWrite(front4, HIGH);
}

void setup() {
  softSerial.begin(9600);
  Serial.begin(9600);

  pinMode(back1, OUTPUT);
  pinMode(front1, OUTPUT);
  pinMode(back2, OUTPUT);
  pinMode(front2, OUTPUT);
  pinMode(back3, OUTPUT);
  pinMode(front3, OUTPUT);
  pinMode(back4, OUTPUT);
  pinMode(front4, OUTPUT);

  initMoto();
}

void loop() {
  command = "";
  while (softSerial.available() > 0) {
    command += char(softSerial.read());
    delay(10);
  }
  if (command.length() > 0) {
    Serial.println(command); 
    initMoto();

    if (command.equals("front")) { // 前进
      digitalWrite(front1, LOW);
      digitalWrite(front2, LOW);
      digitalWrite(front3, LOW);
      digitalWrite(front4, LOW);
    }
    if (command.equals("back")) { // 后退
      digitalWrite(back1, LOW);
      digitalWrite(back2, LOW);
      digitalWrite(back3, LOW);
      digitalWrite(back4, LOW);
    }
    if (command.equals("left_back")) { // 左侧后退
      digitalWrite(back1, LOW);
      digitalWrite(back4, LOW);
    }
    if (command.equals("right_front")) { // 右侧前进
      digitalWrite(front1, LOW);
      digitalWrite(front4, LOW);
    }
    if (command.equals("left_front")) { // 左侧前进
      digitalWrite(front2, LOW);
      digitalWrite(front3, LOW);
    }
    if (command.equals("right_back")) { // 右侧后退
      digitalWrite(back2, LOW);
      digitalWrite(back3, LOW);
    }
    if (command.equals("left")) { // 左移
      digitalWrite(back1, LOW);
      digitalWrite(front2, LOW);
      digitalWrite(front3, LOW);
      digitalWrite(back4, LOW);
    }
    if (command.equals("right")) { // 右移
      digitalWrite(front1, LOW);
      digitalWrite(back2, LOW);
      digitalWrite(back3, LOW);
      digitalWrite(front4, LOW);
    }
    if (command.equals("left_circle")) { // 左转圈
      digitalWrite(front1, LOW);
      digitalWrite(front2, LOW);
      digitalWrite(back3, LOW);
      digitalWrite(back4, LOW);
    }
    if (command.equals("right_circle")) { // 右转圈
      digitalWrite(back1, LOW);
      digitalWrite(back2, LOW);
      digitalWrite(front3, LOW);
      digitalWrite(front4, LOW);
    }
    if (command.equals("stop")) { // 停止
      // 什么都不干
    }
  }
}

遥控器Arduino程序

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#include <SoftwareSerial.h>
SoftwareSerial softSerial(2, 3);  // 连接模块的TX、RX

const int xxInput = A0;
const int yyInput = A1;

const int zzInput = 4;

const int sampleSize = 10;

int ReadAxis(int axisPin)
{
  long reading = 0;
  analogRead(axisPin);
  delay(1);
  for (int i = 0; i < sampleSize; i++)
  {
    reading += analogRead(axisPin);
  }
  return reading / sampleSize;
}

void setup() {
  pinMode(zzInput, INPUT);
  Serial.begin(9600);
  softSerial.begin(9600);
}

void loop() {
  delay(500);

  int xxRaw = ReadAxis(xxInput);
  int yyRaw = ReadAxis(yyInput);
  int zzRaw = digitalRead(zzInput);

  //    Serial.print(xxRaw);
  //    Serial.print(',');
  //    Serial.print(yyRaw);
  //    Serial.print(',');
  //    Serial.println(zzRaw);

  if (zzRaw == 0 && xxRaw > 500 && xxRaw < 550 && yyRaw > 500 && yyRaw < 550) {
    Serial.println("停止");
    softSerial.print("stop");
  }
  if (xxRaw > 1000) {
    Serial.println("前进");
    softSerial.print("front");
  }
  if (xxRaw < 50) {
    Serial.println("后退");
    softSerial.print("back");
  }
  if (yyRaw < 50) {
    Serial.println("左移");
    softSerial.print("left");
  }
  if (yyRaw > 1000) {
    Serial.println("右移");
    softSerial.print("right");
  }
  if (zzRaw == 1) {
    Serial.println("右转圈");
    softSerial.print("right_circle");
  }
}