Роботизированный автомобиль на 4WD шасси

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#include <IRremote.h>
/* https://github.com/z3t0/Arduino-IRremote */
#include <Servo.h>
/* Define the pin */
#define Echo A0                           //ECHO pin of obstacle avoidance module
#define Trig A1                           //Trig pin of obstacle avoidance module
#define ENB 5                             //The pin of motor drive
#define IN1 7                             
#define IN2 8                             
#define IN3 9
#define IN4 10
#define ENA 6
#define RECV_PIN 13                       //Infrared receiver pins
#define LineTeacking_Pin_Right  2         //The pins of the trace module
#define LineTeacking_Pin_Middle 1
#define LineTeacking_Pin_Left   4         
#define SERVO 12                          //Servo motor pins

#define FORWARD 2
#define BACK 8
#define LEFT 4
#define RIGHT 6
#define STOP 5
#define MOVE_MODE 10
#define OBSTACLES_MODE 11
#define LINETRACKING_MODE 12
/* Infrared remote control coding  ,Each remote control is different, you need to test the code first */
#define KEY_2 16718055
#define KEY_4 16716015
#define KEY_6 16734885
#define KEY_8 16730805
#define KEY_5 16726215
#define KEY_CH1 16753245
#define KEY_CH2 16736925
#define KEY_CH3 16769565
/* Read the pins of the trace module */
#define LineTeacking_Read_Right   digitalRead(LineTeacking_Pin_Right)
#define LineTeacking_Read_Middle  digitalRead(LineTeacking_Pin_Middle)
#define LineTeacking_Read_Left    digitalRead(LineTeacking_Pin_Left)
int carSpeed = 250;
IRrecv irrecv(RECV_PIN);        
decode_results results;
Servo myservo;
int rightDistance = 0, leftDistance = 0, middleDistance = 0;
int Mode = MOVE_MODE;
int Direction = 5;
unsigned long recvTime;
unsigned long lineTime;
void setup() {
  Serial.begin(9600);
  irrecv.enableIRIn();
  pinMode(Echo, INPUT);
  pinMode(Trig, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
  digitalWrite(ENA, HIGH);
  digitalWrite(ENB, HIGH);
  pinMode(LineTeacking_Pin_Right, INPUT);
  pinMode(LineTeacking_Pin_Middle, INPUT);
  pinMode(LineTeacking_Pin_Left, INPUT);
  myservo.attach(SERVO);
  myservo.write(90);
}

void loop() {
  recvData();
  moveMode();
  obstaclesMode();
  linetrackingMode();
}
void moveMode() {
  if (Mode == MOVE_MODE) {
    carSpeed = 250;
    switch (Direction) {
      case FORWARD: forward(); break;
      case BACK: back(); break;
      case LEFT: left(); break;
      case RIGHT: right(); break;
      case STOP: stop(); break;
      default: break;
    }
    if (millis() - recvTime >= 500) {
      Direction = STOP;
      recvTime = millis();
    }
  }
}
/* Adjust "carSpeed" if it hits the wall frequently  */
void obstaclesMode() {
  if (Mode == OBSTACLES_MODE) {

    carSpeed = 200;
    myservo.write(90);
    delay(500);
    middleDistance = getDistance();
    if (middleDistance <= 40) {
      stop();
      delay(500);
      myservo.write(10);
      delay(1000);
      rightDistance = getDistance();

      delay(500);
      myservo.write(90);
      delay(1000);
      myservo.write(180);
      delay(1000);
      leftDistance = getDistance();

      delay(500);
      myservo.write(90);
      delay(1000);
      if (rightDistance > leftDistance) {
        right();
        delay(360);
      }
      else if (rightDistance < leftDistance) {
        left();
        delay(360);
      }
      else if ((rightDistance <= 40) || (leftDistance <= 40)) {
        back();
        delay(180);
      }
      else {
        forward();
      }
    }
    else {
      forward();
    }
  }
}
int getDistance() {
  digitalWrite(Trig, LOW);
  delayMicroseconds(2);
  digitalWrite(Trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig, LOW);
  return (int)pulseIn(Echo, HIGH) / 58;
}
/*The trace module needs to test whether the low level trigger or the high level trigger.
  It can be adjusted according to the actual situation*/
void linetrackingMode() {
  if (Mode == LINETRACKING_MODE) {
    carSpeed = 150;
    if (LineTeacking_Pin_Middle) {
      forward();
      //Serial.println("forward");
      while (LineTeacking_Pin_Middle);
    }
    if (LineTeacking_Pin_Left) {
      right();
      while (LineTeacking_Pin_Left);
    }
    else if (LineTeacking_Pin_Right) {
      left();
      while (LineTeacking_Pin_Right);
    }
    else if (LineTeacking_Pin_Left && LineTeacking_Pin_Middle) {
      right();
      while (LineTeacking_Pin_Left);
    }
    else if (LineTeacking_Pin_Right && LineTeacking_Pin_Middle) {
      left();
      while (LineTeacking_Pin_Left);
    }
    else {
      forward();
    }
  }
}
void recvData() {
  if (irrecv.decode(&results)) {
    recvTime = millis();
    switch (results.value) {
      case KEY_2:   Direction = FORWARD;  break;
      case KEY_4:   Direction = LEFT;     break;
      case KEY_6:   Direction = RIGHT;     break;
      case KEY_8:   Direction = BACK;    break;
      case KEY_5:   Direction = STOP;     break;
      case KEY_CH1:  Mode = MOVE_MODE; stop(); Serial.println("MOVE_MODE");
        delay(1000); break;
      case KEY_CH2:  Mode = OBSTACLES_MODE; stop(); Serial.println("OBSTACLES_MODE");
        delay(1000); break;
      case KEY_CH3:  Mode = LINETRACKING_MODE; stop(); Serial.println("LINETRACKING_MODE");
        delay(1000); break;
      default: break;
    }
    irrecv.resume();
  }
}
/*  The best thing to do is to input the HIGH and LOW of each pin once, 
    look at the direction of each wheel of execution, and then define this function  */
void forward() {

  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("Forward");  //send message to serial monitor
}

void back() {


  digitalWrite(IN1, LOW);    //set IN1 hight level
  digitalWrite(IN2, HIGH);     //set IN2 low level
  digitalWrite(IN3, HIGH);     //set IN3 low level
  digitalWrite(IN4, LOW);    //set IN4 hight level
  Serial.println("Back");
}

void stop() {
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
  //Serial.println("stop");
}

void right() {

  digitalWrite(IN1, LOW);
  digitalWrite(IN2, HIGH);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, HIGH);
  Serial.println("right");
}

void left() {
  digitalWrite(IN1, HIGH);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, HIGH);
  digitalWrite(IN4, LOW);

  Serial.println("left");
}

 

Установка модуля управления моторами

Установите поворотную плату на рулевой механизм, затем закрепите его на черном кронштейне и затяните 5 маленькими винтами.
Поверните рукой качалку сервопривода так, чтобы положение на 90° по отношению к переду автомобиля, затем зафиксируйте.

Схема подключения модуля привода моторов и питания