相當於Arduino UNO + Grove shield的組合
既然如此,這樣應該可以把原先的樹莓派小車,改成廉價版本的Arduino小車.
但考慮到Arduino無法直接使用藍芽搖桿連線.腦筋就動到 AT89S525萬用遙控器身上
在此跟賣家盜圖,點圖就是賣家的賣場.有興趣的朋友可以去買.
至於零件的部分,露天拍賣上可以找到大概花費1000有找.
自走車 車體套件 附L298N馬達驅動模組
NTD: 650
 |
雙頭母對母 20CM杜邦線 * 10 Pcs
NTD 28
 |
Arduino Nano V3.0
NTD 100
 |
無線遙控模組 AT89S52
315MHz (點控式)
NTD 110
 |
就四個按鈕先定義小車的行為 先做以下動作定義
A
|
B
|
C
|
D
|
動作定義
|
0
|
0
|
0
|
0
|
停止
|
0
|
0
|
0
|
1
|
原地左轉
|
0
|
0
|
1
|
0
|
原地右轉
|
0
|
0
|
1
|
1
|
無定義
|
0
|
1
|
0
|
0
|
後退
|
0
|
1
|
0
|
1
|
後退左轉
|
0
|
1
|
1
|
0
|
後退右轉
|
0
|
1
|
1
|
1
|
無定義
|
1
|
0
|
0
|
0
|
前行
|
1
|
0
|
0
|
1
|
前行左轉
|
1
|
0
|
1
|
0
|
前行右轉
|
1
|
0
|
1
|
1
|
無定義
|
1
|
1
|
0
|
0
|
無定義
|
1
|
1
|
0
|
1
|
無定義
|
1
|
1
|
1
|
0
|
無定義
|
1
|
1
|
1
|
1
|
無定義
|
定義好 就開始組裝接線 就些接線的部分
Arduino Nano
|
L298N
|
AT89S52
|
Remark
|
D2
|
IN1
|
||
D3
|
IN2
|
||
D4
|
IN3
|
||
D5
|
IN4
|
||
D6
|
|||
D7
|
|||
D8
|
D0
|
||
D9
|
D1
|
||
D10
|
D2
|
||
D11
|
D3
|
||
GND
|
GND
|
GND
|
L298N /
AT89S52 的GND都要接到Arduion的GND上,GND需等位準
|
就Coding的部分先假設會成功...以下程式還沒正式上路.但可藉由UART監控 遙控器的作動
以下為程式碼,使用Arduino的軟體將下文複製到編輯區,上傳到Arduino.上傳完畢後.
順利的話應該車就會順著遙控器的指令行動了
(Arduino的編輯器網址:https://www.arduino.cc/en/Main/Donate,網頁上有下載點Just Download,點選即可下載安裝)
// defines pins numbers
const int PinIN1 = 2; // D2 link to L298N IN1
const int PinIN2 = 3; // D3 link to L298N IN2
const int PinIN3 = 4; // D4 link to L298N IN3
const int PinIN4 = 5; // D5 link to L298N IN4
const int PinD0 = 8; // D8 link to AT89S52 315M AVR D0
const int PinD1 = 9; // D9 link to AT89S52 315M AVR D1
const int PinD2 = 10; // D10 link to AT89S52 315M AVR D2
const int PinD3 = 11; // D11 link to AT89S52 315M AVR D3
const int Pulses = 200; //Define delay time 1000 = 1 sec
int BTN_A = 0;
int BTN_B = 0;
int BTN_C = 0;
int BTN_D = 0;
int BTN[4] = {0, 0, 0, 0};
//Sub Function for Moto Ctrl L298N
void StopMoving(){ // L298N asking Motor STOP
digitalWrite(PinIN1, LOW);
digitalWrite(PinIN2, LOW);
digitalWrite(PinIN3, LOW);
digitalWrite(PinIN4, LOW);
}
void TurnRight(){ // L298N asking Motor Turn Right
digitalWrite(PinIN1, LOW);
digitalWrite(PinIN2, HIGH);
digitalWrite(PinIN3, LOW);
digitalWrite(PinIN4, HIGH);
}
void TurnLeft(){ // L298N asking Motor Turn Right
digitalWrite(PinIN1, HIGH);
digitalWrite(PinIN2, LOW);
digitalWrite(PinIN3, HIGH);
digitalWrite(PinIN4, LOW);
}
void Backward(){ // L298N asking Motor Go Backward
digitalWrite(PinIN1, LOW);
digitalWrite(PinIN2, HIGH);
digitalWrite(PinIN3, HIGH);
digitalWrite(PinIN4, LOW);
}
void Fordward(){ // L298N asking Motor Go Fordward
digitalWrite(PinIN1, HIGH);
digitalWrite(PinIN2, LOW);
digitalWrite(PinIN3, LOW);
digitalWrite(PinIN4, HIGH);
}
void BackwardRight(){
digitalWrite(PinIN1, LOW);
digitalWrite(PinIN2, HIGH);
digitalWrite(PinIN3, LOW);
digitalWrite(PinIN4, LOW);
}
void BackwardLeft(){
digitalWrite(PinIN1, LOW);
digitalWrite(PinIN2, LOW);
digitalWrite(PinIN3, HIGH);
digitalWrite(PinIN4, LOW);
}
void ForwardRight(){
digitalWrite(PinIN1, HIGH);
digitalWrite(PinIN2, LOW);
digitalWrite(PinIN3, LOW);
digitalWrite(PinIN4, LOW);
}
void ForwardLeft(){
digitalWrite(PinIN1, LOW);
digitalWrite(PinIN2, LOW);
digitalWrite(PinIN3, LOW);
digitalWrite(PinIN4, HIGH);
}
void setup() {
Serial.begin(9600);
Serial.println("Hello! I'm Arduino Car.\n");
// Sets the 4 pins as Output to L298N
pinMode(PinIN1,OUTPUT);
pinMode(PinIN2,OUTPUT);
pinMode(PinIN3,OUTPUT);
pinMode(PinIN4,OUTPUT);
// Sets the 4 pins as Input from AT89S52 315M
pinMode(PinD0,INPUT);
pinMode(PinD1,INPUT);
pinMode(PinD2,INPUT);
pinMode(PinD3,INPUT);
}
void loop() {
BTN_A = digitalRead(PinD0);
BTN_B = digitalRead(PinD1);
BTN_C = digitalRead(PinD2);
BTN_D = digitalRead(PinD3);
BTN[0] = BTN_A;
BTN[1] = BTN_B;
BTN[2] = BTN_C;
BTN[3] = BTN_D;
// Serial print the AT89S52 315M D0~D3 Status
Serial.print("BTN Status: A=");
Serial.print(BTN_A);
Serial.print(" ; B=");
Serial.print(BTN_B);
Serial.print(" ; C=");
Serial.print(BTN_C);
Serial.print(" ; D=");
Serial.print(BTN_D);
Serial.print(". \t");
Serial.print(". \n");
if (BTN_A == 0 && BTN_B == 0 && BTN_C == 0 && BTN_D == 0){ // ABCD=0000 define STOP
StopMoving();
}
if (BTN_A == 1 && BTN_B == 0 && BTN_C == 0 && BTN_D == 0){ // ABCD=1000 define fordward
Fordward();
}
if (BTN_A == 0 && BTN_B == 1 && BTN_C == 0 && BTN_D == 0){ // ABCD=0100 define backward
Backward();
}
if (BTN_A == 0 && BTN_B == 0 && BTN_C == 1 && BTN_D == 0){ // ABCD=0010 define Turn Right
TurnRight();
}
if (BTN_A == 0 && BTN_B == 0 && BTN_C == 0 && BTN_D == 1){ // ABCD=0001 define Turn Left
TurnLeft();
}
if (BTN_A == 1 && BTN_B == 0 && BTN_C == 1 && BTN_D == 0){ // ABCD=1010 define Turn Left for forward
ForwardLeft();
}
if (BTN_A == 1 && BTN_B == 0 && BTN_C == 0 && BTN_D == 1){ // ABCD=1001 define Turn Right for forward
ForwardRight();
}
if (BTN_A == 0 && BTN_B == 1 && BTN_C == 1 && BTN_D == 0){ // ABCD=0110 define Turn Left for backward
BackwardLeft();
}
if (BTN_A == 0 && BTN_B == 1 && BTN_C == 0 && BTN_D == 1){ // ABCD=0101 define Turn Right for backward
BackwardRight();
}
}
沒有留言:
張貼留言