Control Smart Car By Arduino

通过Arduino Uno R3开发板控制小车向四个方向前进

需要的材料：

• Arduino Uno R3
• 小车底盘 + 轮胎(1个牛眼轮和2个普通轮胎) + 2个直流电机
• L298N电机驱动模块
• 7.4v锂电池组
• Arduino IDE开发平台

1、首先，我们需要搭好小车的模型，两个直流电机用于驱动轮胎，牛眼轮方便转向和便于调节小车直线行走
2、将直流电机接在L298N电机驱动模块上，驱动模块可控制直流电机顺时针和逆时针的旋转，同时驱动模块连接在Arudino控制板上，最后接上电池组供电
3、在Arduino IDE中，编写相关的程序用于控制电机，实现转动

• 引脚连接和速度设置

#define motorLeftF      9    //左电机正转 PWM
#define motorLeftB      5    //左电机反转 PWM
#define motorRightB     6    //右电机反转 PWM
#define motorRightF     10   //右电机正转 PWM

int motorSpeedRun     = 150; //电机前进速度
int motorSpeedStop    = 0;   //电机停止速度

• 在setup中定义I/O模式

 pinMode(motorRightB, OUTPUT);
 pinMode(motorRightF, OUTPUT);
 pinMode(motorLeftB,  OUTPUT);
 pinMode(motorLeftF,  OUTPUT);

• 移动控制

void turnForward(){
  digitalWrite(motorLeftF, HIGH);
  digitalWrite(motorLeftB, LOW);
  analogWrite(motorLeftF, motorSpeedRun + 5);
  digitalWrite(motorRightF, HIGH);
  digitalWrite(motorRightB, LOW);
  analogWrite(motorRightF, motorSpeedRun - 2);
}

void turnBack(){
  digitalWrite(motorLeftF, LOW);
  digitalWrite(motorLeftB, HIGH);
  analogWrite(motorLeftB, motorSpeedRun - 2);
  digitalWrite(motorRightF, LOW);
  digitalWrite(motorRightB, HIGH);
  analogWrite(motorRightB, motorSpeedRun + 2);
}

void turnLeft(){
  digitalWrite(motorRightF, HIGH);
  digitalWrite(motorRightB, LOW);
  analogWrite(motorRightF, motorSpeedRun);
  digitalWrite(motorLeftF, LOW);
  digitalWrite(motorLeftB, LOW);
}

void turnLeftOriginal(){
    digitalWrite(motorRightF, HIGH);
    digitalWrite(motorRightB, LOW);
    analogWrite(motorRightF, motorSpeedRun);
    digitalWrite(motorLeftF, LOW);
    digitalWrite(motorLeftB, HIGH);
    analogWrite(motorLeftB, motorSpeedRun);
}

void turnRight(){
  digitalWrite(motorLeftF, HIGH);
  digitalWrite(motorLeftB, LOW);
  analogWrite(motorLeftF, motorSpeedRun);
  digitalWrite(motorRightF, LOW);
  digitalWrite(motorRightB, LOW); 
}

void turnRightOriginal(){
  digitalWrite(motorRightF, LOW);
  digitalWrite(motorRightB, HIGH);
  analogWrite(motorRightB, motorSpeedRun);
  digitalWrite(motorLeftF, HIGH);
  digitalWrite(motorLeftB, LOW);
  analogWrite(motorLeftF, motorSpeedRun);
}

void turnStop(){
  digitalWrite(motorLeftF,  LOW);
  digitalWrite(motorLeftB,  LOW);
  digitalWrite(motorRightF, LOW);
  digitalWrite(motorRightB, LOW);  
}

由于给定同样的电压，设定同样的速度，两边电机的速度不一定会相同，因此可根据实际的情况调节左右电机的速度，使其转速基本一致