基于超声波传感器的机器人导航

Question

我正在建造一个简单的机器人，使用Arduino Uno，Arduino电机屏蔽，2台直流电机(这是我使用的https://www.aliexpress.com/item/33026775429.html)和2台12V电池。我有机器人控制两个电机，但我也希望它导航使用SR04超声波传感器。我已经把两个场景放入了空环，如果超声波传感器测量的距离大于40厘米，它就会向前推进，否则它应该反转并改变方向。然而，当我的代码运行时，所发生的一切都是我的一个马达完全静止的，而另一个马达则定期地来回跳动。我试过对代码做很多修改，但结果总是一样的。请看一看我写的代码，并解释我哪里出错了。当我编写代码来控制马达时，它们都能工作，当连接到超声波传感器时，两个马达都起作用了，但是一旦传感器发生变化，所有的东西都会停止运转。这是我的密码：

const int brakeleft = 9; //identifies pin 9
const int speedleft = 3; //identifies pin 3
const int directionright = 13; //identifies pin 13
const int brakeright = 8; //identifies pin 8
const int speedright = 11; //identifies pin 11
const int trigPin = 7; //identifies pin 7
const int echoPin = 6; //identifies pin 6
long duration; //creates a variable under which the duration between emission and reception of sound can be stored
int distance;

void setup() {
pinMode(trigPin, OUTPUT); //assigns a role to the pin we will be emitting sound on
pinMode(echoPin, INPUT); //assigns a role to the pin that will be reporting back the return of that sound wave 
pinMode(brakeleft, OUTPUT); //assigns a role to the pin that will be stopping motor A
pinMode(directionleft, OUTPUT); //assigns a role to the pin that will be deciding motor A's direction
pinMode(speedleft, OUTPUT); //assigns a role to the pin that will be deciding motor A's speed
pinMode(brakeright, OUTPUT); //assigns a role to the pin that will be stopping motor B
pinMode(directionright, OUTPUT); //assigns a role to the pin that will be deciding motor B's direction
pinMode(speedright, OUTPUT); //assigns a role to the pin that will be deciding motor B's speed
}

void loop() {
  
digitalWrite(trigPin, LOW); 
delayMicroseconds(5);
digitalWrite(trigPin, HIGH); //emits ultrasonic pulse
delayMicroseconds(10); 
digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH); //recieves the echo of the ultrasonic pulse
distance = duration * 0.01715; //converts duration for sound to echo into a distance in cm, based on the speed of light, half of 0.0343 cm per second

if (distance > 40) {
  delay(10);
  digitalWrite(directionleft, HIGH); //Make motor A spin forwards
  digitalWrite(directionright, HIGH); //Make motor B spin forwards
  digitalWrite(brakeleft, LOW); //Disengage the brake for motor A
  digitalWrite(brakeright, LOW); //Disengage the brake for motor B
  analogWrite(speedleft, 50); //Spins the motor A at a low speed
  analogWrite(speedright, 50); //Spins motor B at a low speed
  delay(3000); 
} 
else {
  delay(10);
  digitalWrite(directionleft, LOW);
  digitalWrite(directionright, LOW);
  digitalWrite(brakeleft, LOW);
  digitalWrite(brakeright, LOW);
  analogWrite(speedleft, 50);
  analogWrite(speedright, 50);
  delay(2000);
  analogWrite(brakeright, HIGH);
  analogWrite(speedright, 0);
  digitalWrite(directionleft, LOW);
  digitalWrite(brakeleft, LOW);
  analogWrite(speedleft, 50);
  delay(2000);
}
}

Answer 1

我认为这是由于这些延迟(10)而发生的。试着把那些评论掉，然后再试一次，事实上，这些都是不必要的。我希望这能帮到你。