基于Arduino的蓝牙小车(摇杆控制）原理图+源代码+制作教程、小车遥控APP
小车的代码：
#define _US 0x5553#define _DS 0x4453#define _LS 0x4C53#define _RS 0x5253#define _UL 0x554C#define _DL 0x444C#define _UR 0x5552#define _DR 0x4452#define _SS 0x5353#define ENA 10#define ENB 11#define IN1 7#define IN2 8#define IN3 12#define IN4 13#define LOWSPEED 100#define HIGHSPEED 200#define IN1_HIGH PORTE |=0x40#define IN1_LOW PORTE &=~0x40#define IN2_HIGH PORTB |=0x10#define IN2_LOW PORTB &=~0x10#define IN3_HIGH PORTD |=0x40#define IN3_LOW PORTD &=~0x40#define IN4_HIGH PORTC |=0x80#define IN4_LOW PORTC &=~0x80#define ENA_HIGH PORTB |=0x40#define ENA_LOW PORTB &=~0x40#define ENB_HIGH PORTB |=0x80#define ENB_LOW PORTB &=~0x80uint16_t value;uint8_t r_buffer[4];uint8_t number;uint8_t command;void setup(){pinMode(ENA,OUTPUT);pinMode(ENB,OUTPUT);pinMode(IN1,OUTPUT);pinMode(IN2,OUTPUT);pinMode(IN3,OUTPUT);pinMode(IN4,OUTPUT);//ENA_HIGH;//ENB_HIGHrun(0);Serial1.begin(9600);}void loop(){if(Serial1.available()){uint8_t readbuf = Serial1.read();r_buffer[number]=readbuf;number++;if(readbuf==0x3B){if(number==3){value = (r_buffer[0]<<8) | (r_buffer[1]);}number=0;command=1;}}if(command){command=0;switch(value){case _SS: run(0);break;case _US: run(1);break;case _DS: run(2);break;case _LS: run(3);break;case _RS: run(4);break;case _UL: run(5);break;case _UR: run(6);break;case _DL: run(7);break;case _DR: run(8);break;}}}void forward(){ENA_HIGH;ENB_HIGH;IN1_HIGH;IN2_LOW;IN3_HIGH;IN4_LOW;}void backward(){ENA_HIGH;ENB_HIGH;IN1_LOW;IN2_HIGH;IN3_LOW;IN4_HIGH;}void turnleft(){ENA_HIGH;ENB_HIGH;IN1_LOW;IN2_LOW;IN3_HIGH;IN4_LOW;}void turnright(){ENA_HIGH;ENB_HIGH;IN1_HIGH;IN2_LOW;IN3_LOW;IN4_LOW;}void stopcar(){ENA_LOW;ENB_LOW;IN1_LOW;IN2_LOW;IN3_LOW;IN4_LOW;}void run(int direct){switch(direct){case 0:IN1_LOW;IN2_LOW;IN3_LOW;IN4_LOW;analogWrite(ENA,0);analogWrite(ENB,0);break;case 1:IN1_HIGH;IN2_LOW;IN3_HIGH;IN4_LOW;analogWrite(ENA,LOWSPEED);analogWrite(ENB,LOWSPEED+30);break;case 2:IN1_LOW;IN2_HIGH;IN3_LOW;IN4_HIGH;analogWrite(ENA,LOWSPEED-15);analogWrite(ENB,LOWSPEED+40);break;case 3:IN1_LOW;IN2_LOW;IN3_HIGH;IN4_LOW;analogWrite(ENA,0);analogWrite(ENB,LOWSPEED+50);break;case 4:IN1_HIGH;IN2_LOW;IN3_LOW;IN4_LOW;analogWrite(ENA,LOWSPEED);analogWrite(ENB,0);break;case 5:IN1_HIGH;IN2_LOW;IN3_HIGH;IN4_LOW;analogWrite(ENA,LOWSPEED);analogWrite(ENB,HIGHSPEED);break;case 6:IN1_HIGH;IN2_LOW;IN3_HIGH;IN4_LOW;analogWrite(ENA,HIGHSPEED);analogWrite(ENB,LOWSPEED);break;case 7:IN1_LOW;IN2_HIGH;IN3_LOW;IN4_HIGH;analogWrite(ENA,LOWSPEED);analogWrite(ENB,HIGHSPEED);break;case 8:IN1_LOW;IN2_HIGH;IN3_LOW;IN4_HIGH;analogWrite(ENA,HIGHSPEED);analogWrite(ENB,LOWSPEED);break;}}
