小车整体图片
代码部分
//----------引脚设置----------//#define left_motor_Go 9 //左电机前进#define left_motor_Back 3 //左电机后退#define right_motor_Go 10 //右电机前进#define right_motor_Back 11 //右电机后退#define led1 7#define led2 8#define buzzer1 A0#define buzzer2 A3#define Hw A4 //定义红外 A4 接口//----------函数声明----------//void motor_init(void);//电机初始化void forward(void);//控制小车前进void back(void); //控制小车后退void turnRightforward(void);//控制小车右转void turnLeftforward(void);//控制小车左转void addSpeed(void);//加速void subSpeed(void);//减速void Stop(void);//控制小车停车void obstacleAvoidance(void);//避障//----------参数设置----------//int incomingByte = 0; // 传入的串行数据int first_speed = 150; //初速度int val;// val接收避障参数void setup(){Serial.begin(9600);motor_init();//电机初始化}void loop(){// 当接收数据时if (Serial.available() > 0) {//判断返回串口缓冲区中当前剩余的字符个数是否大于零// 读取传入的数据:incomingByte = Serial.parseInt();switch(incomingByte){case 1://前进{forward();break; }case 2://后退{back();break; }case 3://停{Stop(); break; }case 4://左转{turnLeftforward();delay(500); forward(); break; }case 5://右转{turnRightforward();delay(500); forward(); break; }case 6://加速{addSpeed(); break; }case 7://减速{subSpeed(); break; } case 8://停{Stop(); break; }}}val = digitalRead(Hw);obstacleAvoidance();}void motor_init(void){//电机初始化，两个电机需要四个PWM。pinMode (left_motor_Go,OUTPUT); //设置引脚为输出引脚pinMode (left_motor_Back,OUTPUT); //设置引脚为输出引脚pinMode (right_motor_Go,OUTPUT); //设置引脚为输出引脚pinMode (right_motor_Back,OUTPUT); //设置引脚为输出引脚//设定避障inputpinMode (Hw,INPUT); //设置红外传感器为输入pinMode (led1,OUTPUT);pinMode (led2,OUTPUT);analogWrite(led1,0);analogWrite(led2,0);}void obstacleAvoidance(void)//避障{if(val==1)//无障碍物 {analogWrite(led1,0);analogWrite(led2,0);analogWrite(buzzer1,0);analogWrite(buzzer2,0);}else if(val==0)//遇到障碍物{analogWrite(buzzer1,255);analogWrite(buzzer2,0);analogWrite(led1,255);analogWrite(led2,0); back();delay(1000);Stop();}else//异常情况{Stop();delay(1000);}}//----------小车动作----------//void forward(void){analogWrite(left_motor_Go,200);analogWrite(left_motor_Back,10);analogWrite(right_motor_Go,220); analogWrite(right_motor_Back,10); }void back(void){analogWrite(left_motor_Go,10);analogWrite(left_motor_Back,200);analogWrite(right_motor_Go,10); analogWrite(right_motor_Back,200); }void turnRightforward(void){analogWrite(left_motor_Go,250); analogWrite(left_motor_Back,10); analogWrite(right_motor_Go,150); analogWrite(right_motor_Back,10); }void turnLeftforward(void){analogWrite(left_motor_Go,150); analogWrite(left_motor_Back,10); analogWrite(right_motor_Go,250); analogWrite(right_motor_Back,10); }void addSpeed(void)//加速{analogWrite(left_motor_Go,250);analogWrite(left_motor_Back,10);analogWrite(right_motor_Go,250); analogWrite(right_motor_Back,10); }void subSpeed(void)//减速{analogWrite(left_motor_Go,150);analogWrite(left_motor_Back,10);analogWrite(right_motor_Go,150); analogWrite(right_motor_Back,10); }void Stop(void){analogWrite(left_motor_Go,10);analogWrite(left_motor_Back,10);analogWrite(right_motor_Go,10);analogWrite(right_motor_Back,10);}
硬件部分
红外模块
透明灯发出光线（不可见），黑色的接收
VCC接电源 GND接地（我们是接在面包板上了，uno板上不够用了）
（现在回头发现没有必要…接在面包板上…是我傻了）
OUT接了A4端口
蜂鸣器和led灯避障报警模块
这里led灯正极接7 负极接8
蜂鸣器正极接A0 负极接A3
（因为用了两个端口 所以才说面包板上面的正负极没有用上）
（也不知道为什么要用两个端口）
#define led1 7#define led2 8#define buzzer1 A0#define buzzer2 A3
蓝牙模块
VCC接电源 GND接地
TXD接uno板上的RX RXD接uno板上的TX
电机
四个逻辑通道从左到右（）分别接5、6、9、10
输出A接左边电机，输出B接右边电机
uno板接线如图
操作部分
下载一个蓝牙串口助手APP
这个自己网上查吧
细节部分
一开始我们小车转速总是很慢，必须推着才能走。
后来我们发现是电压不足，我们一开始用的是四块电池，但是加起来输出才6V，后来又加了一个充电宝（如图）。
