[專題] 第四組 - 自動避障車

程式碼

#define ECHOPIN 13
#define LED1 12
#define SIGNAL1 9

Stepper stepper(STEPS, 5 , 3 , 2 , 4);
 
long ping() {
  digitalWrite(TRIGPIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIGPIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIGPIN, LOW);
  return pulseIn(ECHOPIN, HIGH)/58;
}
 
void setup() {
  Serial.begin(9600);
  stepper.setSpeed(180);
  pinMode(TRIGPIN, OUTPUT);
  pinMode(ECHOPIN, INPUT);
  pinMode(LED1, OUTPUT);
  pinMode(SIGNAL1, OUTPUT);
}
 
void loop() {
  long cm = ping();
  if (cm >= 25) {
    digitalWrite(LED1, LOW);
    stepper.step(100);
    digitalWrite(LED1, HIGH);
    digitalWrite(SIGNAL1, HIGH);
  }
  else{
    stepper.step(-150);
    digitalWrite(LED1, HIGH);
    digitalWrite(SIGNAL1, LOW);
  }
  int SIN= digitalRead(SIGNAL1);
  Serial.println(SIN);
  delay(10);
}#include 
#define STEPS 140
#define TRIGPIN 11
#define ECHOPIN 13
#define LED1 12
#define SIGNAL1 9

Stepper stepper(STEPS, 5 , 3 , 2 , 4);
 
long ping() {
  digitalWrite(TRIGPIN, LOW);
  delayMicroseconds(2);
  digitalWrite(TRIGPIN, HIGH);
  delayMicroseconds(10);
  digitalWrite(TRIGPIN, LOW);
  return pulseIn(ECHOPIN, HIGH)/58;
}
 
void setup() {
  Serial.begin(9600);
  stepper.setSpeed(180);
  pinMode(TRIGPIN, OUTPUT);
  pinMode(ECHOPIN, INPUT);
  pinMode(LED1, OUTPUT);
  pinMode(SIGNAL1, OUTPUT);
}
 
void loop() {
  long cm = ping();
  if (cm >= 25) {
    digitalWrite(LED1, LOW);
    stepper.step(100);
    digitalWrite(LED1, HIGH);
    digitalWrite(SIGNAL1, HIGH);
  }
  else{
    stepper.step(-150);
    digitalWrite(LED1, HIGH);
    digitalWrite(SIGNAL1, LOW);
  }
  int SIN= digitalRead(SIGNAL1);
  Serial.println(SIN);
  delay(10);
}

PPT簡報檔