Robofun 機器人論壇

標題: ATDUINO程式問題 [打印本頁]

---

作者: ypyp3399    時間: 2013-9-6 18:36
標題: ATDUINO程式問題
想請問如何使用紅外線感測計數輪子轉動的圈數程式如下

1. const int PIRSensor = 2;
   
2. int val = 0;
   
3. void setup()
   
4. {
   
5.   Serial.begin(9600);
   
6.   pinMode(PIRSensor,INPUT);
   
7.   pinMode(13,OUTPUT);
   
8. }
   
9. void loop(){
   
10. 
    
11. 
    
12.   int i;
    
13.   i = digitalRead(PIRSensor);
    
14.   if(i == LOW){
    
15.   digitalWrite(13,HIGH);
    
16.   val += val + 1;
    
17. 
    
18.   }
    
19. 
    
20.   
    
21.    Serial.print(val);
    
22.    delay(1000);
    
23. }

複製代碼

這是我計數的程式可是我要如何加到我的自動車程式中，我想再直線前進的時候用紅外感測來控制輪子轉的圈數達到我要的，已圈數控制直線距離。下面是車子的程式

1. #include <HMC5883L.h>
   
2. #include <Wire.h>
   
3. 
   
4. HMC5883L compass;
   
5. 
   
6. void Angle()
   
7. {
   
8.   MagnetometerRaw raw = compass.ReadRawAxis();
   
9.   MagnetometerScaled scaled = compass.ReadScaledAxis();
   
10.   float yHeading = atan2(scaled.ZAxis, scaled.XAxis);
    
11. 
    
12.   if(yHeading < 0) yHeading += 2*PI;
    
13.   if(yHeading > 2*PI) yHeading -= 2*PI;
    
14. 
    
15.   int yDegrees = yHeading * 180/M_PI;
    
16. 
    
17.   Serial.print(yDegrees);
    
18.   Serial.print(",");
    
19.   delay(500);
    
20. }
    
21. void setup()
    
22. {
    
23.   Serial.begin(9600);
    
24.   Wire.begin();
    
25.   compass = HMC5883L();
    
26.   compass.SetScale(1.3);
    
27.   compass.SetMeasurementMode(Measurement_Continuous);
    
28.   pinMode(9, OUTPUT);
    
29.   pinMode(DAC0, OUTPUT);
    
30.   pinMode(11, OUTPUT);
    
31.   pinMode(DAC1, OUTPUT);
    
32. }
    
33. 
    
34. void loop()
    
35. {
    
36.   int i;
    
37.   do{
    
38.   digitalWrite(9, LOW);
    
39.   analogWrite(DAC0, 35);
    
40.   digitalWrite(11, LOW);
    
41.   analogWrite(DAC1, 90);
    
42.   MagnetometerRaw raw = compass.ReadRawAxis();
    
43.   MagnetometerScaled scaled = compass.ReadScaledAxis();
    
44.   float yHeading = atan2(scaled.ZAxis, scaled.XAxis);
    
45.   if(yHeading < 0) yHeading += 2*PI;
    
46.   if(yHeading > 2*PI) yHeading -= 2*PI;
    
47.   int yDegrees = yHeading * 180/M_PI;
    
48.   Serial.print(yDegrees);
    
49.   Serial.print(",");
    
50.   i=yDegrees;
    
51.   }
    
52.   while((i > 29) || (i < 27));
    
53.   digitalWrite(9, LOW);
    
54.   analogWrite(DAC0, 35);
    
55.   digitalWrite(11, LOW);
    
56.   analogWrite(DAC1, 35);
    
57.   delayMicroseconds(500);
    
58. do{
    
59.   digitalWrite(9, LOW);
    
60.   analogWrite(DAC0, 110);
    
61.   digitalWrite(11, LOW);
    
62.   analogWrite(DAC1, 110);
    
63.   MagnetometerRaw raw = compass.ReadRawAxis();
    
64.   MagnetometerScaled scaled = compass.ReadScaledAxis();
    
65.   float yHeading = atan2(scaled.ZAxis, scaled.XAxis);
    
66.   if(yHeading < 0) yHeading += 2*PI;
    
67.   if(yHeading > 2*PI) yHeading -= 2*PI;
    
68.   int yDegrees = yHeading * 180/M_PI;
    
69.   Serial.print(yDegrees);
    
70.   Serial.print(",");
    
71.   i=yDegrees;
    
72. }
    
73. while((i > 29) || (i < 27));
    
74. delayMicroseconds(8000000);
    
75. 
    
76. do{
    
77.   digitalWrite(9, LOW);
    
78.   analogWrite(DAC0, 35);
    
79.   digitalWrite(11,LOW);
    
80.   analogWrite(DAC1, 90);
    
81.   MagnetometerRaw raw = compass.ReadRawAxis();
    
82.   MagnetometerScaled scaled = compass.ReadScaledAxis();
    
83.   float yHeading = atan2(scaled.ZAxis, scaled.XAxis);
    
84.   if(yHeading < 0) yHeading += 2*PI;
    
85.   if(yHeading > 2*PI) yHeading -= 2*PI;
    
86.   int yDegrees = yHeading * 180/M_PI;
    
87.   Serial.print(yDegrees);
    
88.   Serial.print(",");
    
89.   i=yDegrees;
    
90. }
    
91.   while((i > 278) || (i < 276));
    
92.   digitalWrite(9, LOW);
    
93.   analogWrite(DAC0, 35);
    
94.   digitalWrite(11, LOW);
    
95.   analogWrite(DAC1, 35);
    
96.   delayMicroseconds(500);
    
97. 
    
98. do{
    
99.   digitalWrite(9, LOW);
    
100.   analogWrite(DAC0, 110);
     
101.   digitalWrite(11, LOW);
     
102.   analogWrite(DAC1, 110);
     
103.   MagnetometerRaw raw = compass.ReadRawAxis();
     
104.   MagnetometerScaled scaled = compass.ReadScaledAxis();
     
105.   float yHeading = atan2(scaled.ZAxis, scaled.XAxis);
     
106.   if(yHeading < 0) yHeading += 2*PI;
     
107.   if(yHeading > 2*PI) yHeading -= 2*PI;
     
108.   int yDegrees = yHeading * 180/M_PI;
     
109.   Serial.print(yDegrees);
     
110.   Serial.print(",");
     
111.   i=yDegrees;
     
112. }
     
113. while((i > 278) || (i < 276));
     
114. delayMicroseconds(8000000);
     
115. 
     
116. }
     

複製代碼

---

作者: vegewell    時間: 2013-9-9 21:16
回復 1# ypyp3399

建議你試把這行
delayMicroseconds(8000000);
改成:
for (int x=0; x <= ???; x++){
        int j;
  j = digitalRead(PIRSensor);
  if(j == LOW){
  digitalWrite(13,HIGH);
  val += val + 1;
   } }
??? >也許2000至4000之間

---

歡迎光臨 Robofun 機器人論壇 (https://robofun.net/forum/)

Powered by Discuz! X3.2