小车的代码：
#define _US 0x5553
#define _DS 0x4453
#define _LS 0x4C53
#define _RS 0x5253
#define _UL 0x554C
#define _DL 0x444C
#define _UR 0x5552
#define _DR 0x4452
#define _SS 0x5353
#define ENA 10
#define ENB 11
#define IN1 7
#define IN2 8
#define IN3 12
#define IN4 13
#define LOWSPEED 100
#define HIGHSPEED 200
#define IN1_HIGH PORTE |=0x40
#define IN1_LOW PORTE &=~0x40
#define IN2_HIGH PORTB |=0x10
#define IN2_LOW PORTB &=~0x10
#define IN3_HIGH PORTD |=0x40
#define IN3_LOW PORTD &=~0x40
#define IN4_HIGH PORTC |=0x80
#define IN4_LOW PORTC &=~0x80
#define ENA_HIGH PORTB |=0x40
#define ENA_LOW PORTB &=~0x40
#define ENB_HIGH PORTB |=0x80
#define ENB_LOW PORTB &=~0x80
uint16_t value;
uint8_t r_buffer[4];
uint8_t number;
uint8_t command;
void setup(){
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
//ENA_HIGH;
//ENB_HIGH
run(0);
Serial1.begin(9600);
}
void loop(){
if(Serial1.available())
{
uint8_t readbuf = Serial1.read();
r_buffer[number]=readbuf;
number++;
if(readbuf==0x3B)
{
if(number==3)
{
value = (r_buffer[0]<<8) | (r_buffer[1]);
}
number=0;
command=1;
}
}
if(command)
{
command=0;
switch(value)
{
case _SS: run(0);break;
case _US: run(1);break;
case _DS: run(2);break;
case _LS: run(3);break;
case _RS: run(4);break;
case _UL: run(5);break;
case _UR: run(6);break;
case _DL: run(7);break;
case _DR: run(8);break;
}
}
}
void forward()
{
ENA_HIGH;
ENB_HIGH;
IN1_HIGH;
IN2_LOW;
IN3_HIGH;
IN4_LOW;
}
void backward()
{
ENA_HIGH;
ENB_HIGH;
IN1_LOW;
IN2_HIGH;
IN3_LOW;
IN4_HIGH;
}
void turnleft()
{
ENA_HIGH;
ENB_HIGH;
IN1_LOW;
IN2_LOW;
IN3_HIGH;
IN4_LOW;
}
void turnright()
{
ENA_HIGH;
ENB_HIGH;
IN1_HIGH;
IN2_LOW;
IN3_LOW;
IN4_LOW;
}
void stopcar()
{
ENA_LOW;
ENB_LOW;
IN1_LOW;
IN2_LOW;
IN3_LOW;
IN4_LOW;
}
void run(int direct)
{
switch(direct)
{
case 0:
IN1_LOW;
IN2_LOW;
IN3_LOW;
IN4_LOW;
analogWrite(ENA,0);
analogWrite(ENB,0);
break;
case 1:
IN1_HIGH;
IN2_LOW;
IN3_HIGH;
IN4_LOW;
analogWrite(ENA,LOWSPEED);
analogWrite(ENB,LOWSPEED+30);
break;
case 2:
IN1_LOW;
IN2_HIGH;
IN3_LOW;
IN4_HIGH;
analogWrite(ENA,LOWSPEED-15);
analogWrite(ENB,LOWSPEED+40);
break;
case 3:
IN1_LOW;
IN2_LOW;
IN3_HIGH;
IN4_LOW;
analogWrite(ENA,0);
analogWrite(ENB,LOWSPEED+50);
break;
case 4:
IN1_HIGH;
IN2_LOW;
IN3_LOW;
IN4_LOW;
analogWrite(ENA,LOWSPEED);
analogWrite(ENB,0);
break;
case 5:
IN1_HIGH;
IN2_LOW;
IN3_HIGH;
IN4_LOW;
analogWrite(ENA,LOWSPEED);
analogWrite(ENB,HIGHSPEED);
break;
case 6:
IN1_HIGH;
IN2_LOW;
IN3_HIGH;
IN4_LOW;
analogWrite(ENA,HIGHSPEED);
analogWrite(ENB,LOWSPEED);
break;
case 7:
IN1_LOW;
IN2_HIGH;
IN3_LOW;
IN4_HIGH;
analogWrite(ENA,LOWSPEED);
analogWrite(ENB,HIGHSPEED);
break;
case 8:
IN1_LOW;
IN2_HIGH;
IN3_LOW;
IN4_HIGH;
analogWrite(ENA,HIGHSPEED);
analogWrite(ENB,LOWSPEED);
break;
}
}
