本帖最后由 机器谱 于 2023-8-7 10:43 编辑
1. 功能说明
本文示例将实现R023样机小型双轮差速底盘跟随人移动的功能。在小型双轮差速底盘前方按下图所示安装3个 近红外传感器【https://www.robotway.com/h-col-137.html】,制作一个红外线发射源,实现当红外发射源在机器人的检测范围内任意放置或移动时,机器人能追踪该发射源。
2. 电子硬件
在这个示例中,我们采用了以下硬件,请大家参考:
主控板 | Basra主控板(兼容Arduino Uno)
| 扩展板 | Bigfish2.1扩展板
| 传感器 | 近红外传感器
| 电池 | 7.4V锂电池 |
电路连接:
① 三个近红外传感器从左至右分别连接在Bigfish扩展板的A0,A4,A3端口。
② 左轮直流电机连在Bigfish扩展板的D9,D10接口;右轮直流电机连在Bigfish扩展板的D5,D6接口。
3. 功能实现
编程环境:Arduino 1.8.19
下面提供一个小型双轮差速底盘跟随人移动的参考例程(Infrareda_following.ino): - /*------------------------------------------------------------------------------------
- 版权说明:Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
- Distributed under MIT license.See file LICENSE for detail or copy at
- https://opensource.org/licenses/MIT
- by 机器谱 2023-07-20 https://www.robotway.com/
- ------------------------------*/
- void Right();
- void Left();
- void Stop();
- void Back();
- void Forward();
- void setup()
- {
- pinMode( 17, INPUT);
- pinMode( 18, INPUT);
- pinMode( 14, INPUT);
- pinMode( 10, OUTPUT);
- pinMode( 6, OUTPUT);
- pinMode( 5, OUTPUT);
- pinMode( 9, OUTPUT);
- }
- void loop()
- {
- if (!( digitalRead(18) ))
- {
- Stop();
- }
- if (!( digitalRead(14) ))
- {
- Right();
- }
- if (!( digitalRead(17) ))
- {
- Left();
- }
- if (digitalRead(18))
- {
- Forward();
- }
- }
- void Left()
- {
- analogWrite(5 , 0);
- analogWrite(6 , 0);
- analogWrite(9 , 0);
- analogWrite(10 , 100);
- }
- void Stop()
- {
- analogWrite(5 , 0);
- analogWrite(6 , 0);
- analogWrite(9 , 0);
- analogWrite(10 , 0);
- }
- void Forward()
- {
- analogWrite(5 , 0);
- analogWrite(6 , 125);
- analogWrite(9 , 0);
- analogWrite(10 , 100);
- }
- void Back()
- {
- analogWrite(5 , 125);
- analogWrite(6 , 0);
- analogWrite(9 , 100);
- analogWrite(10 , 0);
- }
- void Right()
- {
- analogWrite(5 , 0);
- analogWrite(6 , 125);
- analogWrite(9 , 0);
- analogWrite(10 , 0);
- }
复制代码
4. 资料下载
资料内容:红外跟随-程序源代码
资料下载地址:小型双轮差速底盘-红外跟随 https://www.robotway.com/h-col-113.html |