Stap 4: Ontvangst van Arduino: de Code.
#include <VirtualWire.h> //Include required library
We zullen ook sommige constanten dat we gebruiken zullen onze auto onder controle te definiëren:
#define FORWARD '8' #define BACKWARD '5' #define STOP '0' #define LEFT '4' #define RIGHT '6' #define STRAIGHT '/' #define TIMEOUT 500UL
Daarna komt de variabelen voor de motor pinnen. De waarde van deze variabelen zullen ongeacht de draad op is aangesloten op de Arduino pin. Als u bekabeld jou anders moet dat u bijwerken uw code hier:
int motor1Pin1 = 5; // pin 2 on L293D is connected to this pin on the Arduino int motor1Pin2 = 6; // pin 7 on L293D " int enablePin1 = 9; // pin 1 on L293D " int motor2Pin1 = 3; // pin 10 on L293D "int motor2Pin2 = 4; // pin 15 on L293D " int enablePin2 = 10; // pin 9 on L293D "
Er zijn twee variabelen om te controleren de motor snelheden:
int motor1Speed = 255; //max speed 255 int motor2Speed = 255;
De laatste variabele is voor de timeout-teller:
unsigned long counter;
De setup-functie zal de pinnen als vereiste instellen. Raad heeft ook gekozen is tot virtuele draad:
void setup() { //Set pin modes pinMode(motor1Pin1, OUTPUT); pinMode(motor1Pin2, OUTPUT); pinMode(motor2Pin1, OUTPUT); pinMode(motor2Pin2, OUTPUT); pinMode(enablePin1, OUTPUT); pinMode(enablePin2, OUTPUT); //Set enablePin to the motors speed analogWrite(enablePin1, motor1Speed); analogWrite(enablePin2, motor2Speed); //Begin with motors off digitalWrite(motor1Pin1, LOW); digitalWrite(motor1Pin2, LOW); digitalWrite(motor2Pin1, LOW); digitalWrite(motor2Pin2, LOW); Serial.begin(9600); //Initialise the IO and ISR vw_set_ptt_inverted(true); // Required for RX Link Module vw_setup(2000); // Bits per sec vw_set_rx_pin(13); // We will be receiving on pin 23 (Mega) ie the RX pin from the module connects to this pin. vw_rx_start(); // Start the receiver } De lus-functie bevat de volgende code:
void loop() { //variables for Virtual Wire uint8_t buf[VW_MAX_MESSAGE_LEN]; uint8_t buflen = VW_MAX_MESSAGE_LEN; //If we got a message from the serial port if (Serial.available()) { //Reset the timeout counter counter = millis(); //Drive the requested motor drive(Serial.read()); //Otherwise check for a message from the reciever } else if (vw_get_message(buf, &buflen)) // check to see if anything has been received { //Reset timeout counter counter = millis(); int i; Serial.println("recieved"); //Debug message // Message with a good checksum received. //For each command recieved for (i = 0; i < buflen; i++) { drive(buf[i]); //Drive requested motors } //If the counter is greater than the timeout (No signal recieved) then stop the car. } else if(millis()-counter >= TIMEOUT) { drive(STOP); drive(STRAIGHT); } } Tot slot moeten we de Drive() functie definiëren:
void drive(int dir) { //Check which direction is requested (same for below) if (dir == FORWARD) { Serial.println("Forward");//Used for debugging //Set motor accordingly (same for below) digitalWrite(motor1Pin1, HIGH); digitalWrite(motor1Pin2, LOW); } else if (dir == BACKWARD) { Serial.println("Backward"); digitalWrite(motor1Pin1, LOW); digitalWrite(motor1Pin2, HIGH); } else if (dir == STOP) { Serial.println("Stop"); digitalWrite(motor1Pin1, LOW); digitalWrite(motor1Pin2, LOW); } else if(dir == STRAIGHT) { Serial.println("Straight"); digitalWrite(motor2Pin1, LOW); digitalWrite(motor2Pin2, LOW); }else if (dir == LEFT) { Serial.println("Left"); digitalWrite(motor2Pin1, LOW); digitalWrite(motor2Pin2, HIGH); }else if (dir == RIGHT) { Serial.println("Right"); digitalWrite(motor2Pin1, HIGH); digitalWrite(motor2Pin2, LOW); } } U kunt de volledige sketch downloaden vanaf hier: https://dl.dropboxusercontent.com/u/63127140/RC_CA...
