Arduino Nano小车7种状态控制
//Arduino小车控制-实现小车的前进、后退、左转、右转、加速、减速、停止
//ENA-9, IN1-3, IN2-4, IN3-5, IN4-6, ENB-10
//引脚对应
int ENA = 9;
int IN1 = 3;
int IN2 = 4;
int IN3 = 5;
int IN4 = 6;
int ENB = 10;
int PWM = 0;
int speeds = 0;//全局变量，范围：0-255,50速度适中
int ChangeSteps = 5;//加速或减速的变化步长
//函数定义
void forward();//小车前进
void backward();//小车后退
void left();//小车左转
void right();//小车右转
void stops();//小车停止
void speed_up();//加速
void speed_down();//减速
void setup() {
pinMode(ENA,OUTPUT); //ENA
pinMode(IN1,OUTPUT); //IN1
pinMode(IN2,OUTPUT); //IN2
pinMode(IN3,OUTPUT); //IN3
pinMode(IN4,OUTPUT); //IN4
pinMode(ENB,OUTPUT); //ENB
speeds = 60;//初始速度
}
void loop() {
forward();
delay(1000);
backward();
delay(1000);
left();
delay(1000);
right();
delay(1000);
speed_up();
delay(1000);
speed_down();
delay(1000);
stops();
delay(1000);
}
/*小车前进*/
void forward()
{
analogWrite(ENA,speeds);//ENA
analogWrite(ENB,speeds);//ENB
digitalWrite(IN1,HIGH);//左电机正转
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);//右电机正转
digitalWrite(IN4,HIGH);
}
/*小车后退*/
void backward()
{
analogWrite(ENA,speeds);//ENA
analogWrite(ENB,speeds);//ENB
digitalWrite(IN1,LOW);//左电机反转
digitalWrite(IN2,HIGH);
digitalWrite(IN3,HIGH);//右电机反转
digitalWrite(IN4,LOW);
}
/*小车左转*/
void left()
{
analogWrite(ENA,0);//ENA
analogWrite(ENB,speeds);//ENB
digitalWrite(IN3,HIGH);//右电机正转
digitalWrite(IN4,LOW);
digitalWrite(IN1,LOW);//左电机不转
digitalWrite(IN2,LOW);
}
/*小车右转*/
void right()
{
analogWrite(ENA,speeds);//ENA
analogWrite(ENB,0);//ENB
digitalWrite(IN1,HIGH);//左电机正转
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);//右电机不转
digitalWrite(IN4,LOW);
}
/*小车停止*/
void stops()
{
analogWrite(ENA,0);//ENA
analogWrite(ENB,0);//ENB
}
void speed_up()//加速
{
if(speeds >= 90)//设置一个最大速度,可以根据需要是否设置最大速度
speeds = 90;
else
speeds += ChangeSteps;
}
void speed_down()//减速
{
if(speeds <= 0)
speeds = 0;
else
speeds -= ChangeSteps;
}