在机器人车体上安装2个 灰度传感器 ,实现机器人按照下图所指定的路线进行导航运动,来模拟仓库物流机器人按指定路线行进的工作过程。
本实验使用的样机为R023e样机。
在这个示例中,我们采用了以下硬件,请大家参考:
主控板 | Basra(兼容Arduino Uno) |
扩展板 | SH-01外围电路扩展板(与Bigfish扩展板相似) |
传感器 | 灰度传感器 |
电池 | 7.4V锂电池 |
电路连接说明:
① 电机连在D6,D10及D5,D9接口上;
② 2个灰度传感器分别接在扩展板的传感器接口A0、A4上。
传感器触发情况、小车行驶状态、对应行为策略表:
传感器1 | 传感器2 | 小车状态 | 动作 |
0 | 1 | 小车左偏 | 向右调整 |
1 | 0 | 小车右偏 | 向左调整 |
1 | 1 | 到达终点 | 停止 |
0 | 0 | 正常 | 前进 |
① 根据实验内容,利用多分支结构设计出程序流程图。
② 根据设计好的程序流程图进行编程,编写并烧录以下程序(blackline_4if.ino),该程序将实现演示视频中的动作。
编程环境:Arduino 1.8.19
/*------------------------------------------------------------------------------------版权说明:Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-02-09 https://www.robotway.com/ ------------------------------------------------------------------------------------*/void turnleft_slow();void forward();void carstop();void turnright_slow();void setup(){pinMode( 18, INPUT);pinMode( 14, INPUT);pinMode( 10, OUTPUT);pinMode( 6, OUTPUT);pinMode( 5, OUTPUT);pinMode( 9, OUTPUT);}void loop(){if (( digitalRead(14) && digitalRead(18) )){forward();}if (( !( digitalRead(14) ) && digitalRead(18) )){turnleft_slow();}if (( digitalRead(14) && !( digitalRead(18) ) )){turnright_slow();}if (( !( digitalRead(14) ) && !( digitalRead(18) ) )){carstop();delay( 5000 );}}void turnright_slow(){analogWrite(6 , 80);analogWrite(10 , 0);analogWrite(5 , 0);analogWrite(9 , 0);}void carstop(){analogWrite(6 , 0);analogWrite(10 , 0);analogWrite(5 , 0);analogWrite(9 , 0);}void turnleft_slow(){analogWrite(6 , 0);analogWrite(10 , 0);analogWrite(5 , 80);analogWrite(9 , 0);}void forward(){analogWrite(6 , 80);analogWrite(10 , 0);analogWrite(5 , 80);analogWrite(9 , 0);}
也可以使用if…else嵌套写法(blackline_ifelse.ino)。
void stop();void left();void right();void forwards();void setup(){pinMode( 18, INPUT);pinMode( 14, INPUT);pinMode( 10, OUTPUT);pinMode( 6, OUTPUT);pinMode( 5, OUTPUT);pinMode( 9, OUTPUT);}void loop(){if (( !( digitalRead(14) ) && digitalRead(18) )){right();}else{if (( digitalRead(14) && !( digitalRead(18) ) )){left();}else{if (( !( digitalRead(14) ) && !( digitalRead(18) ) )){stop();}else{forwards();}}}}void stop(){analogWrite(5 , 0);analogWrite(9 , 0);analogWrite(6 , 0);analogWrite(10 , 0);}void right(){analogWrite(5 , 150);analogWrite(9 , 0);analogWrite(6 , 0);analogWrite(10 , 150);}void forwards(){analogWrite(5 , 150);analogWrite(9 , 0);analogWrite(6 , 150);analogWrite(10 , 0);}void left(){analogWrite(5 , 0);analogWrite(9 , 150);analogWrite(6 , 150);analogWrite(10 , 0);}
资料内容详见 小型双轮差速底盘-双灰度循迹