1. 功能說明

本實驗使用的樣機為R026a樣機小型平行履帶底盤。在樣機前方安裝1個 超聲波傳感器，如果遇到障礙，機器人后退、轉向，否則機器人前進，實現機器人避障的效果。

2. 電子硬件

在這個示例中，我們采用了以下硬件，請大家參考：

兩個直流電機連在D5,D6以及D9,D10接口上；超聲波傳感器連在A4接口上。

3. 示例程序

編程環境：Arduino 1.8.19

編寫并燒錄以下程序（text.ino），該程序將實現超聲避障的動作

/*------------------------------------------------------------------------------------

  版權說明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           by 機器譜 2023-02-10                                   

------------------------------------------------------------------------------------*/

int _ABVAR_1_i = 0 ;

int ardublockUltrasonicSensorCodeAutoGeneratedReturnCM(int trigPin, int echoPin)

{

  long duration;

  pinMode(trigPin, OUTPUT);

  pinMode(echoPin, INPUT);

  digitalWrite(trigPin, LOW);

  delayMicroseconds(2);

  digitalWrite(trigPin, HIGH);

  delayMicroseconds(20);

  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);

  duration = duration / 59;

  if ((duration < 2) || (duration > 300)) return false;

  return duration;

}



void turnLeft();

void forward();

void back();


void setup()

{

  pinMode( 10, OUTPUT);

  pinMode( 6, OUTPUT);

  pinMode( 5, OUTPUT);

  pinMode( 9, OUTPUT);

  digitalWrite( 19 , LOW );


}


void loop()

{

  _ABVAR_1_i = ardublockUltrasonicSensorCodeAutoGeneratedReturnCM( 19 , 18 ) ;

  if (( ( ( _ABVAR_1_i ) <= ( 5 ) ) && ( ( _ABVAR_1_i ) > ( 0 ) ) ))

  {

    back();

    delay( 1000 );

    turnLeft();

    delay( 1500 );

  }

  else

  {

    forward();

  }

}


void forward()

{

  analogWrite(5 , 0);

  analogWrite(6 , 165);

  analogWrite(9 , 0);

  analogWrite(10 , 165);

}


void back()

{

  analogWrite(5 , 165);

  analogWrite(6 , 0);

  analogWrite(9 , 165);

  analogWrite(10 , 0);

}


void turnLeft()

{

  analogWrite(5 , 165);

  analogWrite(6 , 0);

  analogWrite(9 , 0);

  analogWrite(10 , 165);

}