基于arduino 蓝牙麦克拉姆轮小车

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我是靠谱客的博主斯文奇迹，最近开发中收集的这篇文章主要介绍基于arduino 蓝牙麦克拉姆轮小车，觉得挺不错的，现在分享给大家，希望可以做个参考。

概述

#include <SoftwareSerial.h>
// Pin10接HC05的TXD
// Pin1接HC05的RXD
SoftwareSerial BT(0, 1);
char val;
int L1_IN1 = 7;int L1_IN2 = 5;int L1_ENA = 6;//左前轮
int R1_IN1 = 4;int R1_IN2 = 2;int R1_ENA = 3;//右前轮
int L2_IN1 = 12;int L2_IN2 = 13;int L2_ENA = 11;//左后轮
int R2_IN1 = 8;int R2_IN2 = 9;int R2_ENA = 10;//右后轮
int sp=200;
void setup() {
// put your setup code here, to run once:
pinMode(L1_IN1, OUTPUT);pinMode(L1_IN2, OUTPUT);pinMode(L1_ENA, OUTPUT);
pinMode(R1_IN1, OUTPUT);pinMode(R1_IN2, OUTPUT);pinMode(R1_ENA, OUTPUT);
pinMode(L2_IN1, OUTPUT);pinMode(L2_IN2, OUTPUT);pinMode(L2_ENA, OUTPUT);
pinMode(R2_IN1, OUTPUT);pinMode(R2_IN2, OUTPUT);pinMode(R2_ENA, OUTPUT);

Serial.begin(9600);
Serial.println("bluetooth is ready!");
BT.begin(9600);
}

void loop()
{

if (BT.available()) {
val = BT.read();
Serial.print(val);
}
switch(val){
case '0':allstop();break;
case '1':go_ahead(sp);break;
case '2':go_back(sp);break;
case '3':turn_left(sp);;break;
case '4':turn_right(sp);break;
case '5':turn_around(sp);break;
case '6':left_move(sp);break;
case '7':right_move(sp);break;
case '+':sp=sp+10;delay(200);break;
case '-':sp=sp-10;delay(200);break;
case '=':sp=sp;break;
default :allstop();
break;
}
if(sp<0)
sp=0;
else if(sp>255)
sp=255;
}

void go_ahead(int sp)
{
L1_forward(sp);
R1_forward(sp);
L2_forward(sp);
R2_forward(sp);
}

void go_back(int sp)
{
L1_backward(sp);
R2_backward(sp);
L2_backward(sp);
R1_backward(sp);
}
void turn_right(int sp)
{
L1_forward(sp);//左边前进
L2_forward(sp);
digitalWrite(R2_IN2,LOW);//右边不动
digitalWrite(R1_IN2,LOW);
digitalWrite(R2_IN1,LOW);
digitalWrite(R1_IN1,LOW);
}
void turn_left(int sp)
{
R2_forward(sp);//右边前进
R1_forward(sp);
digitalWrite(L2_IN2,LOW);//左边不动
digitalWrite(L1_IN2,LOW);
digitalWrite(L2_IN1,LOW);
digitalWrite(L1_IN1,LOW);
}
void left_move(int sp)
{
L1_backward(sp);
L2_forward(sp);
R1_forward(sp);
R2_backward(sp);
}
void right_move(int sp)
{
L2_backward(sp);
L1_forward(sp);
R2_forward(sp);
R1_backward(sp);
}
void L1_forward(int sp)//左前轮前进
{
digitalWrite(L1_IN2,HIGH);
digitalWrite(L1_IN1,LOW);
analogWrite(L1_ENA,sp);
}
void R1_forward(int sp)//右前轮前进
{
digitalWrite(R1_IN2,HIGH);
digitalWrite(R1_IN1,LOW);
analogWrite(R1_ENA,sp);
}
void L2_forward(int sp)//左后轮前进
{
digitalWrite(L2_IN2,HIGH);
digitalWrite(L2_IN1,LOW);
analogWrite(L2_ENA,sp);
}
void R2_forward(int sp)//右后轮前进
{
digitalWrite(R2_IN2,HIGH);
digitalWrite(R2_IN1,LOW);
analogWrite(R2_ENA,sp);
}

void turn_around(int sp)
{
L1_backward(sp);
L2_backward(sp);
R2_forward(sp);
R1_forward(sp);
}
void allstop()
{
digitalWrite(L1_IN1,LOW);
digitalWrite(L1_IN2,LOW);
digitalWrite(R1_IN1,LOW);
digitalWrite(R1_IN2,LOW);
digitalWrite(L2_IN1,LOW);
digitalWrite(L2_IN2,LOW);
digitalWrite(R2_IN1,LOW);
digitalWrite(R2_IN2,LOW);
}
void L1_backward(int sp)//左前轮后退
{
digitalWrite(L1_IN2,LOW);
digitalWrite(L1_IN1,HIGH);
analogWrite(L1_ENA,sp);
}
void R1_backward(int sp)//右前轮后退
{
digitalWrite(R1_IN2,LOW);
digitalWrite(R1_IN1,HIGH);
analogWrite(R1_ENA,sp);
}
void L2_backward(int sp)//左后轮后退
{
digitalWrite(L2_IN2,LOW);
digitalWrite(L2_IN1,HIGH);
analogWrite(L2_ENA,sp);
}
void R2_backward(int sp)//右后轮后退
{
digitalWrite(R2_IN2,LOW);
digitalWrite(R2_IN1,HIGH);
analogWrite(R2_ENA,sp);
}