Blinkgogo机器人套件初上手代码调试

教程一：简单介绍和电机驱动

//电机驱动01
 
/*
 
  11      10
   |       |
  |M|     |M|
   |       |
   6       5
 
*/
void setup()
{
  pinMode(11, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(5, OUTPUT);
}
 
void loop()
{
  // 左前进
  // 6↑ → 11↓
  digitalWrite(6,HIGH);
  digitalWrite(11,LOW);
  //延时1秒
  delay(1000);
  // 左后退
  // 11↑ → 6↓
  digitalWrite(6,LOW);
  digitalWrite(11,HIGH);
  //延时1秒
  delay(1000);
  // 左停止
  // 6↓ = 11↓
  digitalWrite(6,LOW);
  digitalWrite(11,LOW);
  delay(1000);
 
  //右前进
  // 5↑ → 10↓
  digitalWrite(5,HIGH);
  digitalWrite(10,LOW);
  //延时1秒
  delay(1000);
  //右后退
  // 10↑ → 5↓
  digitalWrite(5,LOW);
  digitalWrite(10,HIGH);
  //延时1秒
  delay(1000);
  //右停止
  // 5↓ = 10↓
  digitalWrite(5,LOW);
  digitalWrite(10,LOW);
  //延时1秒
  delay(1000);
}

^?View Code C

//电机驱动02
 
/*
 
  11      10
   |       |
  |M|     |M|
   |       |
   6       5
 
*/
void setup()
{
  pinMode(11, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(5, OUTPUT);
}
 
void loop()
{
  //左前进 6↑ → 11↓
  digitalWrite(6,HIGH);
  digitalWrite(11,LOW);
  //右前进 5↑ → 10↓
  digitalWrite(5,HIGH);
  digitalWrite(10,LOW);
  delay(1000);
 
  //左停止
  digitalWrite(6,LOW);
  digitalWrite(11,LOW);
  //右停止
  digitalWrite(5,LOW);
  digitalWrite(10,LOW);
  delay(1000);
 
  //左后退 11↑ → 6↓
  digitalWrite(6,LOW);
  digitalWrite(11,HIGH);
  //右后退 10↑ → 5↓
  digitalWrite(5,LOW);
  digitalWrite(10,HIGH);
  delay(1000);
 
  //左停止
  digitalWrite(6,LOW);
  digitalWrite(11,LOW);
  //右停止
  digitalWrite(5,LOW);
  digitalWrite(10,LOW);
  delay(1000);
 
  //左转（左后退，右前进）
  digitalWrite(6,LOW);
  digitalWrite(11,HIGH);
  digitalWrite(5,HIGH);
  digitalWrite(10,LOW);
  delay(1000);
 
  //左停止
  digitalWrite(6,LOW);
  digitalWrite(11,LOW);
  //右停止
  digitalWrite(5,LOW);
  digitalWrite(10,LOW);
  delay(1000);
 
  //右转（左前进，右后退）
  digitalWrite(6,HIGH);
  digitalWrite(11,LOW);
  digitalWrite(5,LOW);
  digitalWrite(10,HIGH);
  delay(1000);
 
  //左停止
  digitalWrite(6,LOW);
  digitalWrite(11,LOW);
  //右停止
  digitalWrite(5,LOW);
  digitalWrite(10,LOW);
  delay(1000);
}

^?View Code C

//电机驱动03
 
int speed = 100;
 
void setup()
{
  pinMode(11, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(5, OUTPUT);
 
  Serial.begin(9600);
}
 
void loop()
{
  Serial.println("Forward");
  //左前进 6↑ → 11↓
  analogWrite(6,speed);
  digitalWrite(11,LOW);
  //右前进 5↑ → 10↓
  analogWrite(5,speed);
  digitalWrite(10,LOW);
  delay(1000);
 
  blinkgogoStop();
 
  Serial.println("Backward");
  //左后退 11↑ → 6↓
  digitalWrite(6,LOW);
  analogWrite(11,speed);
  //右后退 10↑ → 5↓
  digitalWrite(5,LOW);
  analogWrite(10,speed);
  delay(1000);
 
  blinkgogoStop();
 
  //左转（左后退，右前进）
  digitalWrite(6,LOW);
  analogWrite(11,speed);
  analogWrite(5,speed);
  digitalWrite(10,LOW);
  delay(1000);
 
  blinkgogoStop();
 
  //右转（左前进，右后退）
  analogWrite(6,speed);
  digitalWrite(11,LOW);
  digitalWrite(5,LOW);
  analogWrite(10,speed);
  delay(1000);
 
  blinkgogoStop();
  delay(1000);
}
 
 
void blinkgogoStop()
{
  //左停止
  digitalWrite(6,LOW);
  digitalWrite(11,LOW);
  //右停止
  digitalWrite(5,LOW);
  digitalWrite(10,LOW);
}

教程二：runBlinkgogo封装和走回形

^?View Code C

//runBlinkgogo封装 测试
 
long speed;
 
/*
 
  11      10
   |       |
  |M|     |M|
   |       |
   6       5
 
*/
 
void runBlinkgogo(long leftSpeed, long rightSpeed)
{
  if (leftSpeed &gt;= 0)
  {
    //6→11
    analogWrite(6,leftSpeed);
    digitalWrite(11,LOW);
  }
  else
  {
    //11→6
    analogWrite(11,0-leftSpeed);
    digitalWrite(6,LOW);
 
  }
  if (rightSpeed &gt;= 0)
  {
    //5→10
    analogWrite(5,rightSpeed);
    digitalWrite(10,LOW);
  }
  else
  {
    //10→5
    analogWrite(10,0-rightSpeed);
    digitalWrite(5,LOW);
  }
}
 
void setup()
{
  speed = 200;
  pinMode(11, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(5, OUTPUT);
}
 
void loop()
{
  //前进
  runBlinkgogo(speed, speed);
  delay(1000);
  //后退
  runBlinkgogo(0 - speed, 0 - speed);
  delay(1000);
  //左转
  runBlinkgogo(0 - speed, speed);
  delay(1000);
  //右转
  runBlinkgogo(speed, 0 - speed);
  delay(1000);
  //停止
  runBlinkgogo(0, 0);
  delay(1000);
}

^?View Code C

//
 
long speed;
 
/*
 
  11      10
   |       |
  |M|     |M|
   |       |
   6       5
 
*/
 
void runBlinkgogo(long leftSpeed, long rightSpeed)
{
  if (leftSpeed &gt;= 0)
  {
    //6→11
    analogWrite(6,leftSpeed);
    digitalWrite(11,LOW);
  }
  else
  {
    //11→6
    analogWrite(11,0-leftSpeed);
    digitalWrite(6,LOW);
 
  }
  if (rightSpeed &gt;= 0)
  {
    //5→10
    analogWrite(5,rightSpeed);
    digitalWrite(10,LOW);
  }
  else
  {
    //10→5
    analogWrite(10,0-rightSpeed);
    digitalWrite(5,LOW);
  }
}
 
void setup()
{
  speed = 200;
  pinMode(11, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(5, OUTPUT);
}
 
void loop()
{
  //前进
  runBlinkgogo(speed, speed);
  delay(1000);
 
  //停止
  runBlinkgogo(0, 0);
  delay(300);
 
  //右转
  runBlinkgogo(40, 0 - 40);
  delay(500);
 
  //停止
  runBlinkgogo(0, 0);
  delay(300);
}

^?View Code C

//
 
long leftSpeed;
long rightSpeed;
 
/*
 
  11      10
   |       |
  |M|     |M|
   |       |
   6       5
 
*/
 
void runBlinkgogo(long leftSpeed, long rightSpeed)
{
  if (leftSpeed >= 0)
  {
    //6→11
    analogWrite(6, leftSpeed);
    digitalWrite(11, LOW);
  }
  else
  {
    //11→6
    analogWrite(11, 0 - leftSpeed);
    digitalWrite(6, LOW);
 
  }
  if (rightSpeed >= 0)
  {
    //5→10
    analogWrite(5, rightSpeed);
    digitalWrite(10, LOW);
  }
  else
  {
    //10→5
    analogWrite(10, 0 - rightSpeed);
    digitalWrite(5, LOW);
  }
}
 
void setup()
{
  pinMode(11, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(5, OUTPUT);
  Serial.begin(9600);
}
 
void loop()
{
  // 顺时针转圈
  runBlinkgogo(255, 80);
  delay(8000);
  // 逆时针转圈
  runBlinkgogo(80, 255);
  delay(8000);
 
  // 操场式转圈
  runBlinkgogo(255, 100);
  delay(3600);
  runBlinkgogo(255, 255);
  delay(1000);
 
  // 8字型回环
  runBlinkgogo(255, 80);
  delay(4000);
  runBlinkgogo(255, 255);
  delay(1000);
 
  runBlinkgogo(80, 255);
  delay(4000);
  runBlinkgogo(255, 255);
  delay(1000);
 
 
  //蛇形前进（曲率变化）
  for (int speedOffset = -100; speedOffset < 100; speedOffset += 5)
  {
    leftSpeed = 125 + speedOffset;
    rightSpeed = 125 - speedOffset;
    Serial.print(leftSpeed);
    Serial.print("\t");
    Serial.println(rightSpeed);
    runBlinkgogo(leftSpeed, rightSpeed);
    delay(25);
  }
  delay(500); 
  for (int speedOffset = 100; speedOffset > -100; speedOffset -= 5)
  {
    leftSpeed = 125 + speedOffset;
    rightSpeed = 125 - speedOffset;
    Serial.print(leftSpeed);
    Serial.print("\t");
    Serial.println(rightSpeed);
    runBlinkgogo(leftSpeed, rightSpeed);
    delay(25);
  }
  delay(500);
}

教程三：探测黑线传感器使用和blink测试

^?View Code C

//chapter 03 line_follow01
 
long runSpeed;        //电机基本速度
long sensorValueAll;  //存储左右巡线传感器L2、L3的检测值
byte lastDirection;   //存储上一次转向
 
void setup()
{
  runSpeed = 80;        //电机基本速度
  sensorValueAll = 0;   //存储左右巡线传感器L2、L3的检测值
  lastDirection = 0;    //存储上一次转向
  pinMode(2, INPUT);    //左巡线传感器L2
  pinMode(3, INPUT);    //右巡线传感器L3
  pinMode(11, OUTPUT);  //左马达 Motor B2
  pinMode(6, OUTPUT);   //左马达 Motor B1
  pinMode(10, OUTPUT);  //右马达 Motor A2
  pinMode(5, OUTPUT);   //右马达 Motor A1
}
 
void loop()
{
  //将L2与L3生成一个两位十进制数，存于sensorValueAll用于后续判断偏离方向分类
  sensorValueAll = 10 * digitalRead(2) + digitalRead(3);
  //用switch语句来选择分支机构，共4种情况
  switch (sensorValueAll)
  {
    case 0: //00，左右巡线传感器L2、L3都检测到黑线
      runBlinkgogo(runSpeed, runSpeed); //继续左右同速直线前行
      break;
    case 1: //01，左巡线传感器L2检测到黑线，右巡线传感器L3检测到离开黑线
      runBlinkgogo(runSpeed, 100);  //Motor B &lt; Motor A,左转 lastDirection = 0; //存储本次转向，零为右转 break; case 10: //10，左巡线传感器L2检测到离开黑线，右巡线传感器L3检测到黑线 runBlinkgogo(100, runSpeed); //Motor B &gt; Motor A,右转
      lastDirection = 1;  //存储本次转向，零为左转
      break;
    case 11:  //11，左右巡线传感器L2、L3都检测到离开黑线
      if (lastDirection)  //依照上次转向，单轮速度为零，加大转向速度
      {
        runBlinkgogo(runSpeed, 0);  //依照上次转向，右电机不动，左电机前进，右轮为中心右转
      }
      else
      {
        runBlinkgogo(0, runSpeed);  //依照上次转向，左电机不动，右电机前进，左轮为中心左转
      }
      break;
    default:  //其它情况
      runBlinkgogo(0, 0); //停机
      break;
  }
}
 
//传入左右电机运动参数，参数有效范围-256至于+255，
//但近0附近数值因摩擦阻力等存在死区，约-40至+40，导致电机无法转动
void runBlinkgogo(long leftSpeed, long rightSpeed)
{
  if (leftSpeed &gt;= 0)
  {
    //6→11
    analogWrite(6, leftSpeed);
    digitalWrite(11, LOW);
  }
  else
  {
    //11→6
    analogWrite(11, 0 - leftSpeed);
    digitalWrite(6, LOW);
 
  }
  if (rightSpeed &gt;= 0)
  {
    //5→10
    analogWrite(5, rightSpeed);
    digitalWrite(10, LOW);
  }
  else
  {
    //10→5
    analogWrite(10, 0 - rightSpeed);
    digitalWrite(5, LOW);
  }
}

^?View Code C

//chapter 03 line_follow02
 
long speedBase = 100;   //电机基本速度
long speedOffset = 40;  //电机偏置速度
long speedLeft = 100;   //左电机速度参数传入值
long speedRight = 100;  //右电机速度参数传入值
boolean lastDirectionLeft = true; //上一次偏转方向是否为的右布尔值
 
 
void setup()
{
  pinMode(13, OUTPUT);
  pinMode(2, INPUT);
  pinMode(3, INPUT);
}
 
void loop()
{
  //根据左右巡线传感器L2、L3是否压线亮灯
  detectBlink();
  if(onLine(2)&amp;&amp;onLine(3))  //左右巡线传感器L2、L3都检测到黑线
  {
    runBlinkgogo(speedBase,speedBase);  //继续左右同速直线前行
  }
  if(!onLine(2)&amp;&amp;!onLine(3)) //左右巡线传感器L2、L3都检测到离开黑线 
  {
    if (lastDirectionLeft)
      runBlinkgogo(0, speedRight+speedOffset); //Motor B &lt; Motor A,左转 else runBlinkgogo(speedLeft+speedOffset, 0); //Motor B &gt; Motor A,右转
  }
  if(onLine(2)&amp;&amp;!onLine(3)) //左巡线传感器L2检测到黑线，右巡线传感器L3检测到离开黑线
  {
    runBlinkgogo(speedLeft-speedOffset, speedRight+speedOffset);
    lastDirectionLeft = true; //存储本次转向，零为右转
  }
  if(!onLine(2)&amp;&amp;onLine(3)) //左巡线传感器L2检测到离开黑线，右巡线传感器L3检测到黑线
  {
    runBlinkgogo(speedLeft+speedOffset, speedRight-speedOffset);
    lastDirectionLeft = false;  //存储本次转向，零为左转
  }
}
 
//检测Ln是否压黑线
boolean onLine(int Ln)
{
  return !digitalRead(Ln);
}
 
//检测到左右巡线传感器L2、L3都压黑线则关LED灯
//其中一个离开则亮全车LED灯提醒
void detectBlink()
{
  if(onLine(2) &amp;&amp; onLine(3))
    digitalWrite(13,LOW);
  else
    digitalWrite(13,HIGH);
}
 
//传入左右电机运动参数，参数有效范围-256至于+255，
//但近0附近数值因摩擦阻力等存在死区，约-40至+40，导致电机无法转动
void runBlinkgogo(long leftSpeed, long rightSpeed)
{
  if (leftSpeed &gt;= 0)
  {
    //6→11
    analogWrite(6,leftSpeed);
    digitalWrite(11,LOW);
  }
  else
  {
    //11→6
    analogWrite(11,0-leftSpeed);
    digitalWrite(6,LOW);
 
  }
  if (rightSpeed &gt;= 0)
  {
    //5→10
    analogWrite(5,rightSpeed);
    digitalWrite(10,LOW);
  }
  else
  {
    //10→5
    analogWrite(10,0-rightSpeed);
    digitalWrite(5,LOW);
  }
}

^?View Code C

//chapter 03 line_follow03
 
#define L1 4  //左上角巡线传感器L1
#define L2 2  //左巡线传感器L2
#define L3 3  //右巡线传感器L3
#define L4 7  //右上角巡线传感器L4
 
long noLineTimes = 0;     //存储所有巡线传感器没检测到黑线的次数
long speedBase = 100;     //电机基本速度
long speedLeft;           //左电机速度参数传入值
long speedRight;          //右电机速度参数传入值
long speedOffset = 40;    //电机偏置速度
boolean lastDirectionLeft;//上一次偏转方向是否为右的布尔值
 
void setup()
{
  Serial.begin(9600);
  pinMode(13, OUTPUT);    //全车LED
  pinMode(L1, INPUT);     //左上角巡线传感器L1
  pinMode(L2, INPUT);     //左巡线传感器L2
  pinMode(L3, INPUT);     //右巡线传感器L3
  pinMode(L4, INPUT);     //右上角巡线传感器L4
  speedLeft = speedBase;  //左电机速度参数传入值
  speedRight = speedBase; //右电机速度参数传入值
}
 
void loop()
{
  detectBlink();  //根据左右巡线传感器L2、L3是否压线亮灯
  //全部巡线传感器检测或检测不到黑线
  if ((onLine(L1) &amp;&amp; onLine(L2) &amp;&amp; onLine(L3) &amp;&amp; onLine(L4)) == true || (onLine(L1) || onLine(L2) || onLine(L3) || onLine(L4)) == false)
  {
    noLineTimes ++; //存储所有巡线传感器没检测到黑线的次数加一
    Serial.print("noLineTimes++");
    Serial.println(noLineTimes);
  }
  else
  {
    //L1压黑线
    if (onLine(L1))//L1 is connect to PIN D4
    {
      //只有L1压黑线
      if (!onLine(L2) &amp;&amp; !onLine(L3) &amp;&amp; !onLine(L4))
      {
        speedLeft = -speedOffset;
        speedRight = speedOffset;
        lastDirectionLeft = true;
      }
    }
    //L4黑线
    else if (onLine(L4))//L4 is connect to PIN D7
    {
      //只有L4压黑线
      if (!onLine(L1) &amp;&amp; !onLine(L2) &amp;&amp; !onLine(L3))
      {
        speedLeft = speedOffset;
        speedRight = -speedOffset;
        lastDirectionLeft = false;
      }
    }
    else
    {
      //左右巡线传感器L2、L3都检测到黑线
      if (onLine(L2) &amp;&amp; onLine(L3))
      {
        speedLeft = speedBase;
        speedRight = speedBase;
      }
      //L2压黑线、L3不压黑线
      if (onLine(L2) &amp;&amp; !onLine(L3))
      {
        speedLeft = speedBase;
        speedRight = speedBase + speedOffset;
        lastDirectionLeft = true;
      }
      //L2不压黑线、L3压黑线
      if (!onLine(L2) &amp;&amp; onLine(L3))
      {
        speedLeft = speedBase + speedOffset;
        speedRight = speedBase;
        lastDirectionLeft = false;
      }
      //L2与L3都不压黑线
      if (!onLine(L2) &amp;&amp; !onLine(L3))
      {
        //上一次转向为左
        if (lastDirectionLeft)
        {
          speedLeft = 0;
          speedRight = speedBase + speedOffset;
        }
        //上一次转向为右
        else
        {
          speedLeft = speedBase + speedOffset;
          speedRight = 0;
        }
      }
    }
    noLineTimes = 0;
  }
  //存储所有巡线传感器没检测到黑线的次数，是否传入电机参数运行
  if (noLineTimes &lt; 50) { runBlinkgogo(speedLeft, speedRight); } else { runBlinkgogo(0, 0); } } //检测Ln是否压黑线 boolean onLine(int Ln) { return !digitalRead(Ln); } void detectBlink() { if (onLine(2) &amp;&amp; onLine(3)) digitalWrite(13, LOW); else digitalWrite(13, HIGH); } //传入左右电机运动参数，参数有效范围-256至于+255， //但近0附近数值因摩擦阻力等存在死区，约-40至+40，导致电机无法转动 void runBlinkgogo(long leftSpeed, long rightSpeed) { if (leftSpeed &gt;= 0)
  {
    //6→11
    analogWrite(6, leftSpeed);
    digitalWrite(11, LOW);
  }
  else
  {
    //11→6
    analogWrite(11, 0 - leftSpeed);
    digitalWrite(6, LOW);
 
  }
  if (rightSpeed &gt;= 0)
  {
    //5→10
    analogWrite(5, rightSpeed);
    digitalWrite(10, LOW);
  }
  else
  {
    //10→5
    analogWrite(10, 0 - rightSpeed);
    digitalWrite(5, LOW);
  }
}

创元素

广州大学城的创客空间

Blinkgogo机器人套件初上手代码调试

教程一：简单介绍和电机驱动

教程二：runBlinkgogo封装和走回形

教程三：探测黑线传感器使用和blink测试

教程四：简单巡线和速度尝试

教程五：playMusic和速度参数调试lineFollower

教程六：寻光测试 lightFollower

教程七：走迷宫 goMaze

教程八：红外遥控控制原理和尝试测试

教程九：较大规模的程序功能划分与红外控制

教程十：集成手机应用程序的控制小车appControlBlinkgogo

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教程一：简单介绍和电机驱动

教程二：runBlinkgogo封装和走回形

教程三：探测黑线传感器使用和blink测试

教程四：简单巡线和速度尝试

教程五：playMusic和速度参数调试lineFollower

教程六：寻光测试 lightFollower

教程七：走迷宫 goMaze

教程八：红外遥控控制原理和尝试测试

教程九：较大规模的程序功能划分与红外控制

教程十：集成手机应用程序的控制小车appControlBlinkgogo

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