博客

arduino蓝牙小车的实现

材料：

• arduino uno 开发板
• 蓝牙JDY-32
• 四驱小车套件
• 杜邦线若干
• 3.7v电池两节

软件：

• arduino IDE 开发平台
  

• 移动app—-SPP(找了很多款，都搜索不到蓝牙，发现这款还好，一下子就连上了蓝牙)
  

相关程序：

注：代码来源为引用相关博客加以修改和优化（pwm调速），以实现小车的控制。

在调试的过程中，也存在一些问题，比如小车的左右转有一些bug.

#define STOP      0
#define FORWARD   1
#define BACKWARD  2
#define TURNLEFT  3
#define TURNRIGHT 4

int leftMotor1 = 5;
int leftMotor2 = 6;
int rightMotor1 = 9;
int rightMotor2 = 10;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);//波特率9600
  pinMode(leftMotor1, OUTPUT);
  pinMode(leftMotor2, OUTPUT);
  pinMode(rightMotor1, OUTPUT);
  pinMode(rightMotor2, OUTPUT);
}

void loop()
{
  
  if(Serial.available()>0)//判断串口是否有数据
  {
    char cmd = Serial.read();//读取蓝牙模块发送到串口的数据   
    motorRun(cmd);//调用小车电机函数      
  }  
}
void motorRun(int cmd)
{
  switch(cmd){
     case'F':
      Serial.println("前进"); //输出状态
      analogWrite(leftMotor1,100);      
      analogWrite(leftMotor2,0);         
      analogWrite(rightMotor1,100);      
      analogWrite(rightMotor2,0);         
      delay(500);
      Stop();
      break;
     case'B':
      Serial.println("后退"); //
      analogWrite(leftMotor1,0);      
      analogWrite(leftMotor2,100);        
      analogWrite(rightMotor1,0);      
      analogWrite(rightMotor2,100); 
      delay(500);
      Stop();
      break;
     case 'L':
      Serial.println("左转"); //
      analogWrite(leftMotor1, 100);
      analogWrite(leftMotor2,200);
      analogWrite(rightMotor1, 200);
      analogWrite(rightMotor2, 100);
      delay(500);
      Stop();
      break;
     case 'l':    //原地左转
      analogWrite(leftMotor1,0);      
      analogWrite(leftMotor2,200);         
      analogWrite(rightMotor1,200);      
      analogWrite(rightMotor2,0); 
      Serial.println("右转"); 
      delay(500);
      Stop();
      break;
      case 'R':
      Serial.println("右转"); //
      analogWrite(leftMotor1, 200);
      analogWrite(leftMotor2, 100);
      analogWrite(rightMotor1, 100);
      analogWrite(rightMotor2, 200);
      delay(500);
      Stop();
      break;
      case 'r':    //原地右转
      analogWrite(leftMotor1,200);      
      analogWrite(leftMotor2,0);         
      analogWrite(rightMotor1,0);      
      analogWrite(rightMotor2,200); 
      delay(500);
      Stop();
      break;
      default:
      
     
  }
}

void Stop(void)
{
  analogWrite(leftMotor1,0);      
  analogWrite(leftMotor2,0);         //左轮静止不动
  analogWrite(rightMotor1,0);      
  analogWrite(rightMotor2,0);         //右轮静止不动
  delay(100);
}