基于arduino的5路循迹小车（3）
使用红外模块的定位停车
以及超声波避障
接第一篇链接 https://blog.csdn.net/weixin_45984029/article/details/103437347

1.硬件选用

1.红外循迹模块（与上篇相同）

2.超声波模块

在这里插入图片描述

2.接线

1.红外模块

VCC接开发板3.3V
GND接开发板GND
D0接开发板信号口（具体位置对应代码）
A0不接

2.超声波模块

VCC接开发板5V
GND接开发板5V
Trig和Echo接开发板信号口（具体位置对应代码）

3.代码

int Left_motor_go1 = 24;        //左电机前进 AIN1
int Left_motor_back1 = 25;      //左电机后退 AIN2

int Right_motor_go1 = 22;       //右电机前进 BIN1
int Right_motor_back1 = 23;     //右电机后退 BIN2

int Left_motor_pwm1 = 3;       //左电机控速 PWMA1
int Right_motor_pwm1= 5;      //右电机控速 PWMB1
int Left_motor_pwm2 = 4;       //左电机控速 PWMA2
int Right_motor_pwm2= 6;      //右电机控速 PWMB2

//循迹红外引脚定义
//TrackSensorLeftPin1 TrackSensorLeftPin2 TrackSensorMid TrackSensorRightPin1 TrackSensorRightPin2 
//      A1                   A2                  A3                   A4                A5
const int TrackSensorLeftPin1  =  A1;  //定义第一个循迹红外传感器引脚为A1
const int TrackSensorLeftPin2  =  A2;  //定义第二个循迹红外传感器引脚为A2
const int TrackSensorMid = A3;       //定义第三个循迹红外传感器引脚为A3
const int TrackSensorRightPin1 =  A4;  //定义第四个循迹红外传感器引脚为A4
const int TrackSensorRightPin2 =  A5;  //定义第五个循迹红外传感器引脚为A5

// TrackSensorRightPin3 进行计数
//        A6              
const int TrackSensorRightPin3 =  A6;  //右主计数 

//定义计数变量
int JS2;

//定义各个循迹红外引脚采集的数据的变量
int SLL;
int SL;
int SM;
int SR;
int SRR;

int echoPin   = 32; //超声波
int trigPin   = 33;
unsigned int S;

int a;

void setup()
{
  Serial.begin(9600);//超声波
  
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  //初始化电机驱动IO口为输出方式
  pinMode(Left_motor_go1, OUTPUT);
  pinMode(Left_motor_back1, OUTPUT);
  pinMode(Right_motor_go1, OUTPUT);
  pinMode(Right_motor_back1, OUTPUT);

   //定义四路循迹红外传感器为输入接口
  pinMode(TrackSensorLeftPin1, INPUT);
  pinMode(TrackSensorLeftPin2, INPUT);
  pinMode(TrackSensorMid,INPUT);
  pinMode(TrackSensorRightPin1, INPUT);
  pinMode(TrackSensorRightPin2, INPUT);

   //四路循迹红外传感器初始化为高电平
  digitalWrite(TrackSensorLeftPin1, HIGH);
  digitalWrite(TrackSensorLeftPin2, HIGH);
  digitalWrite(TrackSensorMid,HIGH);
  digitalWrite(TrackSensorRightPin1, HIGH);
  digitalWrite(TrackSensorRightPin2, HIGH);
}

void run(int left_speed, int right_speed)
{
  //左电机前进
  digitalWrite(Left_motor_go1, LOW);   //左电机前进使能
  digitalWrite(Left_motor_back1, HIGH);  //左电机后退禁止
  analogWrite(Left_motor_pwm1, LOW);
  analogWrite(Left_motor_pwm2, left_speed);
  //右电机前进
  digitalWrite(Right_motor_go1, LOW);  //右电机前进使能
  digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止
  analogWrite(Right_motor_pwm1, LOW);
  analogWrite(Right_motor_pwm2, right_speed);
}

void  left(int left_speed, int right_speed)
{
  //左电机后退
  digitalWrite(Left_motor_go1, HIGH);    //左电机前进禁止
  digitalWrite(Left_motor_back1,LOW);  //左电机后退禁止
  analogWrite(Left_motor_pwm2, left_speed);
  analogWrite(Left_motor_pwm1,LOW);

  //右电机前进
  digitalWrite(Right_motor_go1, LOW);  //右电机前进使能
  digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止
  analogWrite(Right_motor_pwm2, LOW);
  analogWrite(Right_motor_pwm1, right_speed);
}

void right(int left_speed, int right_speed)
{
  //左电机前进
  digitalWrite(Left_motor_go1, LOW);   //左电机前进使能
  digitalWrite(Left_motor_back1, HIGH);  //左电机后退禁止
  analogWrite(Left_motor_pwm2, LOW);
  analogWrite(Left_motor_pwm1, left_speed);

  //右电机后退
  digitalWrite(Right_motor_go1, HIGH );   //右电机前进禁止
  digitalWrite(Right_motor_back1,LOW); //右电机后退禁止
  analogWrite(Right_motor_pwm2, right_speed);
  analogWrite(Right_motor_pwm1, LOW );

}

void barke(int left_speed, int right_speed)
{
  //左电机停止
  digitalWrite(Left_motor_go1, HIGH);   //左电机前进使能
  digitalWrite(Left_motor_back1, HIGH);  //左电机后退禁止
  analogWrite(Left_motor_pwm1, left_speed);
  analogWrite(Left_motor_pwm2, left_speed);

  //右电机停止
  digitalWrite(Right_motor_go1, HIGH );   //右电机前进禁止
  digitalWrite(Right_motor_back1,HIGH); //右电机后退禁止
  analogWrite(Right_motor_pwm1, right_speed);
  analogWrite(Right_motor_pwm2, right_speed);
  
}

void back(int left_speed, int right_speed)
{
  //左电机后退
  digitalWrite(Left_motor_go1, HIGH);   //左电机前进禁止
  digitalWrite(Left_motor_back1, LOW);  //左电机后退使能
  analogWrite(Left_motor_pwm1, left_speed);
  analogWrite(Left_motor_pwm2, LOW);
  //右电机后退
  digitalWrite(Right_motor_go1, HIGH);  //右电机前进禁止
  digitalWrite(Right_motor_back1, LOW); //右电机后退使能
  analogWrite(Right_motor_pwm1, right_speed);
  analogWrite(Right_motor_pwm2, LOW);
}

void bank(int left_speed, int right_speed)//惯性停车
{
  //左电机空
  digitalWrite(Left_motor_go1, LOW);   //左电机前进禁止
  digitalWrite(Left_motor_back1, LOW);  //左电机后退禁止
  analogWrite(Left_motor_pwm1, left_speed);
  analogWrite(Left_motor_pwm2, left_speed);

  //右电机空
  digitalWrite(Right_motor_go1, LOW);   //右电机前进禁止
  digitalWrite(Right_motor_back1,LOW); //右电机后退禁止
  analogWrite(Right_motor_pwm1, right_speed);
  analogWrite(Right_motor_pwm2, right_speed);
}

void xunji()//循迹
{
  a = 0;
  //检测到黑线时循迹模块相应的指示灯灭，端口电平为HIGH
  //未检测到黑线时循迹模块相应的指示灯亮，端口电平为LOW
  
  SLL  = digitalRead(TrackSensorLeftPin1);
  SL  = digitalRead(TrackSensorLeftPin2);
  SM = digitalRead(TrackSensorMid);
  SR = digitalRead(TrackSensorRightPin1);
  SRR = digitalRead(TrackSensorRightPin2);

  //计数

  JS2 = digitalRead(TrackSensorRightPin3);

 //循迹
  if( SM == HIGH )
  {
      run(45,37);                                                                                                                  
  }
  if( SL == HIGH && SM == LOW)
  {
    
    left(35,57);
  }
  if( SLL == HIGH && SM == LOW)
  {
    
    left(35,57);
  }
  if( SR == HIGH && SM == LOW)
  {
    
    right(50,32);
  }
  if( SRR == HIGH && SM == LOW)
  {
    right(50,32);
  }
  if(SR == HIGH && SRR == HIGH)
 {
  right(50,32);
 }
 if(SL == HIGH && SLL == HIGH)
 {
  left(30,57);
 }
  if(SRR == HIGH && SR == HIGH && SM == HIGH && SL == HIGH)
 {
  right(50,32);
 }

  if(SM == HIGH && (SL == HIGH && SLL == HIGH) || (SR == HIGH && SL == HIGH) || (SR == HIGH && SRR == HIGH))
 {
  run(45,37);
 }

}

void loop()
{
  xunji();//调用循迹
 if(JS2 == HIGH)
   {
    a++;
    if(a == 1)
    {
    barke(120,120);//停车
    delay(650);
    bank(0,0);
    delay(1000);

    }
   }
   range();//超声波检测
}
void range()
{ 
 digitalWrite(trigPin,LOW); //测距
 delayMicroseconds(2); //延时2微秒
 digitalWrite(trigPin,HIGH);
 delayMicroseconds(20);
 digitalWrite(trigPin,LOW);
 int distance = pulseIn(echoPin,HIGH); //读取高电平时间
 distance = distance/58; 
 S = distance; //把值赋给S
 if( S < 16 )//小于16厘米时，调用避障程序
      { 
      BZ();
      }
}

void BZ()//避障程序
{
  barke(120,120);
  delay(600);
  bank(0,0);
  delay(300);
  
  back(45,37);
  delay(300);
  barke(120,120);
  delay(300);
  bank(0,0);
  delay(300);
  
  left(55,65);
  delay(700);
  run(55,55);
  delay(1000);
  right(55,45);
  delay(400);
  run(55,55);
  delay(1000);
  right(55,45);
  delay(400);
  run(55,55);
  delay(1046);
  left(55,55);
  delay(550);
}

4.测试小车

定位停车用的是红外模块扫到黑线停车，停车方式为电机堵转急停
超声波避障中的代码请根据具体情况填写