陈式投机取巧大法@arduino

初始化电机驱动IO为输出方式voidsetup(){pinMode(Left_motor_go,OUTPUT);//PIN8(PWM)pinMode(Left_motor_back,OUTPUT);//PIN9(PWM)pinMode(Right_motor_go,OUTPUT);//PIN10(PWM)pinMode(Right_motor_back,OUTPUT);//PIN11(PWM)pinMode(13,OUTPUT);////端口模式，输出Serial.begin(9600);//波特率9600irrecv.enableIRIn();//Startthereceiver}//电机控制：前进voidrun()//{+刹车+左转+右转+后退//前进digitalWrite(Right_motor_go,HIGH);//右电机前进digitalWrite(Right_motor_back,LOW);//analogWrite(Right_motor_go,200);//PWM比例0~255调速，左右轮差异略增减//analogWrite(Right_motor_back,0);digitalWrite(Left_motor_go,HIGH);//左电机前进digitalWrite(Left_motor_back,LOW);//analogWrite(Left_motor_go,200);//PWM比例0~255调速，左右轮差异略增减//analogWrite(Left_motor_back,0);//delay(time*100);//执行时间，可以调整}voidbrake()//刹车，停车{digitalWrite(Right_motor_go,LOW);digitalWrite(Right_motor_back,LOW);digitalWrite(Left_motor_go,LOW);digitalWrite(Left_motor_back,LOW);//delay(time*100);//执行时间，可以调整}voidleft()//左转(左轮不动，右轮前进){digitalWrite(Right_motor_go,HIGH);//右电机前进digitalWrite(Right_motor_back,LOW);//analogWrite(Right_motor_go,200);//analogWrite(Right_motor_back,0);//PWM0~255digitalWrite(Left_motor_go,LOW);//左轮不动digitalWrite(Left_motor_back,LOW);//analogWrite(Left_motor_go,0);//analogWrite(Left_motor_back,0);//PWM比例0~255调速//delay(time*100);//执行时间，可以调整}voidspin_left()//左转(左轮后退，右轮前进){digitalWrite(Right_motor_go,HIGH);//右电机前进digitalWrite(Right_motor_back,LOW);//analogWrite(Right_motor_go,200);//analogWrite(Right_motor_back,0);//PWM比例0~255调速digitalWrite(Left_motor_go,LOW);//左轮后退digitalWrite(Left_motor_back,HIGH);//analogWrite(Left_motor_go,0);//analogWrite(Left_motor_back,200);//PWM比例0~255调速//delay(time*100);//执行时间，可以调整}voidright()//右转(右轮不动，左轮前进){digitalWrite(Right_motor_go,LOW);//右电机不动digitalWrite(Right_motor_back,LOW);//analogWrite(Right_motor_go,0);//analogWrite(Right_motor_back,0);//PWM比例0~255调速digitalWrite(Left_motor_go,HIGH);//左电机前进digitalWrite(Left_motor_back,LOW);//analogWrite(Left_motor_go,200);//analogWrite(Left_motor_back,0);//PWM比例0~255调速//delay(time*100);//执行时间，可以调整}voidspin_right()//右转(右轮后退，左轮前进){digitalWrite(Right_motor_go,LOW);//右电机后退digitalWrite(Right_motor_back,HIGH);//analogWrite(Right_motor_go,0);//analogWrite(Right_motor_back,200);//PWM比例0~255调速digitalWrite(Left_motor_go,HIGH);//左电机前进digitalWrite(Left_motor_back,LOW);//analogWrite(Left_motor_go,200);//analogWrite(Left_motor_back,0);//PWM比例0~255调速//delay(time*100);//执行时间，可以调整}voidback()//{digitalWrite(Right_motor_go,LOW);//右轮后退digitalWrite(Right_motor_back,HIGH);//analogWrite(Right_motor_go,0);//analogWrite(Right_motor_back,150);//PWM比例0~255调速digitalWrite(Left_motor_go,LOW);//左轮后退digitalWrite(Left_motor_back,HIGH);//analogWrite(Left_motor_go,0);//analogWrite(Left_motor_back,150);//PWM比例0~255调速//delay(time*100);//执行时间，可以调整}//红外控制模块voidloop(){//if(irrecv.decode(&results))//{调用库函数：解码Ifit'sbeenatleast1/4secondsincethelastIRreceived,toggletherelayif(millis()-last>250)//确定接收到信号{on=!on;//标志位置反digitalWrite(13,on?HIGH:LOW);//dump(&results);//解码红外信号板子上接收到信号闪烁一下led}if(results.value==run_car)//run();//前进if(results.value==back_car)//back();//后退if(results.value==left_car)//left();//左转if(results.value==right_car)//right();//右转if(results.value==stop_car)//brake();//停车if(results.value==left_turn)//spin_left();//左旋转if(results.value==right_turn)//spin_right();//右旋转按键2按键8按键4按键6按键5按键1按键3last=millis();irrecv.resume();//Receivethenextvalue}}//超声波模块//floatDistance_test()//量出前方距离{digitalWrite(Trig,LOW);//delayMicroseconds(2);digitalWrite(Trig,HIGH);//delayMicroseconds(10);digitalWrite(Trig,LOW);//floatFdistance=pulseIn(Echo,HIGH);2s给触发脚高电平10μs，这里至少是10μs持续给触发脚低电//读取高电平时间(单位：微秒)Fdistance=Fdistance/58;////X秒=（2*Y米）/344==为什么除以58等于厘米，Y米=（X秒*344）/2》X秒=0.0058*Y米==》厘米=微秒/58//Serial.print("Distance:");//Serial.println(Fdistance);////输出距离（单位：厘米）显示距离//Distance=Fdistance;returnFdistance;}//超声波显示//voidDistance_display(intDistance)//{显示距离if((2