|
|
求大神分析一下原因，本来想用这个来做毕业设计的，急死了
网上买的shieldbot小车，做的循迹小车为什么往后跑。。。用的Arduino Uno控制器，5路灰度传感器，L298P驱动芯片。本来用的ARDUINO里面的循迹程序，小车往后跑，后来自己也改了一下，程序都弄好之后，循迹的时候小车还是往后跑，直接跑偏轨道啊。。。新手实在没办法，
程序如下；
Arduino IDE界面中的程序：
#include <ShieldbotV1_0.h>
Shieldbot shieldbot = Shieldbot(); //decares a Shieldbot object
int S1,S2,S3,S4,S5; //values to store state of sensors
void setup()
{
Serial.begin(9600);//Begin serial comm for debugging
shieldbot.setMaxSpeed(200,200);//255 is max, if one motor is faster than another, adjust values
}
void loop()
{
//Read all the sensors
S1 = shieldbot.readS1();//Read the first infrared sensor value,and assigned the value to S1
S2 = shieldbot.readS2();//Read the second infrared sensor value,and assigned the value to S2
S3 = shieldbot.readS3();//Read the third infrared sensor value,and assigned the value to S3
S4 = shieldbot.readS4();//Read the fourth infrared sensor value,and assigned the value to S4
S5 = shieldbot.readS5();//Read the fifth infrared sensor value,and assigned the value to S5
//Note about IR sensors
//if a sensor sees HIGH, it means that it just sees a reflective surface background(ex. whie)
//if a sensor sees LOW, it means that it sees a non-reflective surface or empty space (ex. black tape line, or empty space off ledge)
if(S1 == LOW && S5 == LOW)
{ //if both the two outer IR line sensors see empty space (like edge of a table) stop moving
shieldbot.stop();
delay(100);
}
else if(S1 == HIGH && S2 == HIGH &&S3 == HIGH &&S4 == HIGH &&S5 == HIGH)
{ //if all the IR line sensors see white paper,just to stop it
shieldbot.stop();
delay(100);
}
else if(S1 == LOW)
{ //if the most right IR line sensors see black tape, turn right
shieldbot.drive(80,0);// to turn right, left motor goes forward and right stop
delay(50);
}
else if(S2== LOW)
{ //if the second IR line sensors see black tape, turn right
shieldbot.drive(80,40);// to turn right a little, left motor goes forward fast than right a little
delay(50);
}
else if(S5 == LOW)
{ //if the most left IR line sensors see black , turn left
shieldbot.drive(0,80);// to turn left, right motor goes forward and left motor stop
delay(50);
}
else if(S4==LOW)
{ //if the fourth IR line sensors see black , turn left
shieldbot.drive(40,80);// to turn left, right motor goes forward fast than left motor a little
delay(50);
}
else //otherwise just go forward
shieldbot.drive(80,80);
}
下面是ShieldbotV1_0.h库中的程序
// Only modify this file to include
// - function definitions (prototypes)
// - include files
// - extern variable definitions
// In the appropriate section
#ifndef _ShieldbotV1_0_H_
#define _ShieldbotV1_0_H_
#include "Arduino.h"
//add your includes for the project ShiledbotV1_0 here
//#define SHIELDBOTDEBUG 0
// for shieldbot Version 0.9 and 1.0
#define right1 5 //define I1 interface
#define speedPinRight 6 //enable right motor (bridge A)
#define right2 7 //define I2 interface
#define left1 8 //define I3 interface
#define speedPinLeft 9 //enable motor B
#define left2 10 //define I4 interface
// for shieldbot Version 1.1, we changed to the driver pins ,
//if you shieldbot is ver1.0 or 0.9, please using the above pin mapping;
/*#define right1 8 //define I1 interface
#define speedPinRight 9 //enable right motor (bridge A)
#define right2 11 //define I2 interface
#define left1 12 //define I3 interface
#define speedPinLeft 10 //enable motor B
#define left2 13 //define I4 interface */
#define finder1 A0 //define line finder S1
#define finder2 A1 //define line finder S2
#define finder3 A2 //define line finder S3
#define finder4 A3 //define line finder S4
#define finder5 4 //define line finder S5
extern int speedmotorA; //define the speed of motorA
extern int speedmotorB; //define the speed of motorB
extern int k,n;
extern uint8_t flag;
//end of add your includes here
#ifdef __cplusplus
extern "C" {
#endif
void loop();
void setup();
#ifdef __cplusplus
} // extern "C"
#endif
//add your function definitions for the project Shiledbot here
// library interface description
class Shieldbot
{
// user-accessible "public" interface
public:
Shieldbot();
int readS1();
int readS2();
int readS3();
int readS4();
int readS5();
void setMaxSpeed(int);
void setMaxSpeed(int, int);
void setMaxLeftSpeed(int);
void setMaxRightSpeed(int);
void rightMotor(char);
void leftMotor(char);
void drive(char, char);
void forward();
void backward();
void stop();
void stopRight();
void stopLeft();
void fastStopLeft();
void fastStopRight();
void fastStop();
};
下面是ShieldbotV1_0.cpp库中的程序：
// Do not remove the include below
#include "ShieldbotV1_0.h"
int speedmotorA = 255; //define the speed of motorA
int speedmotorB = 255; //define the speed of motorB
Shieldbot::Shieldbot()
{
pinMode(right1,OUTPUT);
pinMode(right2,OUTPUT);
pinMode(speedPinRight,OUTPUT);
pinMode(left1,OUTPUT);
pinMode(left2,OUTPUT);
pinMode(speedPinLeft,OUTPUT);
pinMode(finder1,INPUT);
pinMode(finder2,INPUT);
pinMode(finder3,INPUT);
pinMode(finder4,INPUT);
pinMode(finder5,INPUT);
}
//sets same max speed to both motors
void Shieldbot::setMaxSpeed(int both){
setMaxLeftSpeed(both);
setMaxRightSpeed(both);
}
void Shieldbot::setMaxSpeed(int left, int right){
setMaxLeftSpeed(left);
setMaxRightSpeed(right);
}
void Shieldbot::setMaxLeftSpeed(int left){
speedmotorB=left;
}
void Shieldbot::setMaxRightSpeed(int right){
speedmotorA=right;
}
int Shieldbot::readS1(){
return digitalReadA(finder1);
}
int Shieldbot::readS2(){
return digitalRead(finder2);
}
int Shieldbot::readS3(){
return digitalRead(finder3);
}
int Shieldbot::readS4(){
return digitalRead(finder4);
}
int Shieldbot::readS5(){
return digitalRead(finder5);
}
void Shieldbot::drive(char left, char right){
rightMotor(right);
leftMotor(left);
}
//char is 128 to 127
//mag is the direction to spin the right motor
//-128 backwards all the way
//0 dont move
//127 forwards all the way
void Shieldbot::rightMotor(char mag){
int actualSpeed = 0;
if(mag >0){ //forward
float ratio = (float)mag/128;
actualSpeed = (int)(ratio*speedmotorA); //define your speed based on global speed
#if SHIELDBOTDEBUG
Serial.print("forward right: ");
Serial.println(actualSpeed);
#endif
analogWrite(speedPinRight,actualSpeed);
digitalWrite(right1,LOW);
digitalWrite(right2,HIGH);//turn right motor clockwise
}else if(mag == 0){ //neutral
#if SHIELDBOTDEBUG
Serial.println("nuetral right");
#endif
stopRight();
}else { //meaning backwards
float ratio = (float)abs(mag)/128;
actualSpeed = ratio*speedmotorA;
#if SHIELDBOTDEBUG
Serial.print("backward right: ");
Serial.println(actualSpeed);
#endif
analogWrite(speedPinRight,actualSpeed);
digitalWrite(right1,HIGH);
digitalWrite(right2,LOW);//turn right motor counterclockwise
}
}
//TODO shouldnt these share one function and just input the differences?
void Shieldbot::leftMotor(char mag){
int actualSpeed = 0;
if(mag >0)
{ //forward
float ratio = (float)(mag)/128;
actualSpeed = (int)(ratio*speedmotorB); //define your speed based on global speed
#if SHIELDBOTDEBUG
Serial.print("forward left: ");
Serial.println(actualSpeed);
#endif
analogWrite(speedPinLeft,actualSpeed);
digitalWrite(left1,LOW);
digitalWrite(left2,HIGH);//turn left motor counter-clockwise
}
else if(mag == 0)
{ //neutral
#if SHIELDBOTDEBUG
Serial.println("nuetral left");
#endif
stopLeft();
}
else
{ //meaning backwards
float ratio = (float)abs(mag)/128;
actualSpeed = ratio*speedmotorB;
#if SHIELDBOTDEBUG
Serial.print("backward left: ");
Serial.println(actualSpeed);
#endif
analogWrite(speedPinLeft,actualSpeed);
digitalWrite(left1,HIGH);
digitalWrite(left2,LOW);//turn left motor counterclockwise
}
}
void Shieldbot::forward(){
leftMotor(127);
rightMotor(127);
}
void Shieldbot::backward(){
leftMotor(-128);
rightMotor(-128);
}
void Shieldbot::stop(){
stopLeft();
stopRight();
}
void Shieldbot::stopLeft(){
analogWrite(speedPinLeft,0);
}
void Shieldbot::stopRight(){
analogWrite(speedPinRight,0);
}
//may be dangerous to motor if reverse current into hbridge exceeds 2A
void Shieldbot::fastStopLeft(){
digitalWrite(left1,LOW);
digitalWrite(left2,LOW);//turn DC Motor B move clockwise
}
//may be dangerous to motor if reverse current into hbridge exceeds 2A
void Shieldbot::fastStopRight(){
digitalWrite(right1,LOW);
digitalWrite(right2,LOW);//turn DC Motor A move anticlockwise
}
//may be dangerous to motor if reverse current into hbridge exceeds 2A
void Shieldbot::fastStop(){
fastStopRight();
fastStopLeft();
}
求大神分析一下！ |
|
发表于 2016-6-11 11:28:35
楼主
