拉风的自走车

见多了自动小车，有点审美疲劳了。就想到了DIY一个自走车。于是买了铝条和螺丝，折腾了一下午，弄出了个粗糙的玩意。结果不太满意，但过程充满了汗水。功能是通过超声传感探测到前方物体后开始转弯。由于负重较大，走的还比较笨拙。这个后面会调整。




硬件清单见以下图例

Arduino nano


L298N


红外避障传感



超声传感

其他一些电线，螺丝，电机等附件


项目连线图

[mw_shl_code=applescript,false]/*

ReModified by gada888

*/


#include<NewPing.h>

int ENA = 3;  
int ENB = 9;  
int MOTOR_A1 = 4;
int MOTOR_A2 = 5;
int MOTOR_B1 = 6;
int MOTOR_B2 = 7;

int RIGHT = A0;
int LEFT = A1;  

#define TRIG A2
#define ECHO A3
#define MAX_DISTANCE 100

NewPing sonar(TRIG, ECHO, MAX_DISTANCE);

void setup() {
  // put your setup code here, to run once:
  
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(MOTOR_A1, OUTPUT);
pinMode(MOTOR_A2, OUTPUT);
pinMode(MOTOR_B1, OUTPUT);
pinMode(MOTOR_B2, OUTPUT);
pinMode(RIGHT, INPUT);
pinMode(LEFT, INPUT);  


}

void loop() {
  // put your main code here, to run repeatedly:
  
delay(70);
int distance = sonar.ping_cm();
if (distance == 0) {
  distance = 30;
}
if(distance <=15) {
  Stop();
  delay(100);
  turnRight();
  delay(350);
  moveForward();
  delay(500);
  turnLeft();
  delay(350);
  moveForward();
  delay(700);
  turnLeft();
  delay(300);
  moveForward();
  delay(400);
  turnRight();
  delay(400);
}
if (analogRead(RIGHT)<=35 && analogRead(LEFT)<=35) {
  analogWrite(ENA, 100);
  analogWrite(ENB, 100);
  digitalWrite(MOTOR_A1, LOW);
  digitalWrite(MOTOR_A2, HIGH);
  digitalWrite(MOTOR_B1, HIGH);
  digitalWrite(MOTOR_B2, LOW);
  
}else if (analogRead(RIGHT)<=35 && !analogRead(LEFT)<=35) {
  analogWrite(ENA, 100);
  analogWrite(ENB, 100);
  digitalWrite(MOTOR_A1, HIGH);
  digitalWrite(MOTOR_A2, LOW);
  digitalWrite(MOTOR_B1, HIGH);
  digitalWrite(MOTOR_B2, LOW);

}else if (!analogRead(RIGHT)<=35 && analogRead(LEFT)<=35) {
  analogWrite(ENA, 100);
  analogWrite(ENB, 100);
  digitalWrite(MOTOR_A1, LOW);
  digitalWrite(MOTOR_A2, HIGH);
  digitalWrite(MOTOR_B1, LOW);
  digitalWrite(MOTOR_B2, HIGH);
  
}else if (!analogRead(RIGHT)<=35 && !analogRead(LEFT)<=35) {

  Stop();
}

}
void Stop() {
  analogWrite(ENA, 0);
  analogWrite(ENB, 0);
  digitalWrite(MOTOR_A1, LOW);
  digitalWrite(MOTOR_A2, LOW);
  digitalWrite(MOTOR_B1, LOW);
  digitalWrite(MOTOR_B2, LOW);
}

void turnRight() {
  analogWrite(ENA, 100);
  analogWrite(ENB, 100);
  digitalWrite(MOTOR_A1, LOW);
  digitalWrite(MOTOR_A2, HIGH);
  digitalWrite(MOTOR_B1, LOW);
  digitalWrite(MOTOR_B2, HIGH);
  
}

void turnLeft() {
  analogWrite(ENA,100);
  analogWrite(ENB, 100);
  digitalWrite(MOTOR_A1, HIGH);
  digitalWrite(MOTOR_A2, LOW);
  digitalWrite(MOTOR_B1, HIGH);
  digitalWrite(MOTOR_B2, LOW);
}

void moveForward() {
  analogWrite(ENA, 100);
  analogWrite(ENB, 100);
  digitalWrite(MOTOR_A1, LOW);
  digitalWrite(MOTOR_A2, HIGH);
  digitalWrite(MOTOR_B1, HIGH);
  digitalWrite(MOTOR_B2, LOW);
}

[/mw_shl_code]

感觉像只虫子

看着简单，只要动手去做，就是困难重重。所以实践出真知。

所以实践出真知。+1

为什么楼主这么爱车

hnyzcj 发表于 2020-4-21 19:26
感觉像只虫子

参照的是‘人马战神’

小刚郭 发表于 2020-4-22 10:32
为什么楼主这么爱车

已经做了发炮小车，需要一个自动避障小车，自己一个人玩时候，把两台车配合对打的

云天 发表于 2020-4-21 21:25
看着简单，只要动手去做，就是困难重重。所以实践出真知。

累并快乐着

机械结构能分享一下吗？

20060606 发表于 2020-8-4 10:33
机械结构能分享一下吗？

内容更新了，看最后两张图片

gada888 发表于 2020-8-4 12:54
内容更新了，看最后两张图片

谢谢分享

把它放地上走一下试试