复制源码arduino编译出错?
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发布时间：2022-05-18 23:56
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时间：2023-11-23 08:12
/*如果避障响应方向不对修改固定值即可如：1600变1400，1400变1600*/
unsigned int distance_Q, distance_H, distance_Z, distance_Y;
/*以下为传感器引脚定义*/
const int CSB_Q = 0, CSB_H = 1, CSB_Z = 2, CSB_Y = 3;
#include<Servo.h>//Arino Nano 2;3(Pin)
const int AIL_PWM = 2;//中断输入
const int ELE_PWM = 3;//中断输入
const int LED_PIN = 13;//LED灯
unsigned long RC_AIL_PulseStartTicks, RC_ELE_PulseStartTicks;
volatile int RC_AIL, RC_ELE;
unsigned int OUT_AIL, OUT_ELE;
unsigned int AIL_MIN = 1000, AIL_MAX = 2000;
unsigned int ELE_MIN = 1000, ELE_MAX = 2000;
Servo AIL; Servo ELE;
/*以下为滤波定义*/
#define FILTER_N 5
/*********************************/
void RC_AIL_Void()//AIL中断程序
{
if (digitalRead( AIL_PWM ) == HIGH)
RC_AIL_PulseStartTicks = micros();
else
RC_AIL = micros() - RC_AIL_PulseStartTicks;
}
void RC_ELE_Void()//ELE中断程序
{
if (digitalRead( ELE_PWM ) == HIGH)
RC_ELE_PulseStartTicks = micros();
else
RC_ELE = micros() - RC_ELE_PulseStartTicks;
}
void setup()
{
attachInterrupt(0, RC_AIL_Void, CHANGE);
attachInterrupt(1, RC_ELE_Void, CHANGE);
AIL.attach(10);
ELE.attach(11);
pinMode(AIL_PWM, INPUT);
pinMode(ELE_PWM, INPUT);
pinMode(LED_PIN, OUTPUT);
Serial.begin(9600);
ADCSRA |= (1 << ADPS2);
ADCSRA &= ~(1 << ADPS1);
ADCSRA &= ~(1 << ADPS0);
}
void loop()
{
OUT_AIL = map(RC_AIL, AIL_MIN, AIL_MAX, 1000, 2000);
OUT_ELE = map(RC_ELE, ELE_MIN, ELE_MAX, 1000, 2000);
digitalWrite(LED_PIN, LOW);</font></div><div>
</div><div><font style="background-color: rgb(255, 255, 255);"> distance_Q = Filter(CSB_Q);
if (distance_Q <= 1400) //前有障碍物
{
OUT_ELE = 1400; //后退
digitalWrite(LED_PIN, HIGH);
}
AIL.writeMicroseconds(OUT_AIL);
ELE.writeMicroseconds(OUT_ELE);
distance_H = Filter(CSB_H);
if (distance_H <= 1400) //后有障碍物
{
OUT_ELE = 1600; //前进
digitalWrite(LED_PIN, HIGH);
}
AIL.writeMicroseconds(OUT_AIL);
ELE.writeMicroseconds(OUT_ELE);
distance_Z = Filter(CSB_Z);
if (distance_Z <= 1400)//左有障碍
{
OUT_AIL = 1600; //右飞
digitalWrite(LED_PIN, HIGH);
}
AIL.writeMicroseconds(OUT_AIL);
ELE.writeMicroseconds(OUT_ELE);
distance_Y = Filter(CSB_Y);
if (distance_Y <= 1400)//右有障碍
{
OUT_AIL = 1400; //左飞
digitalWrite(LED_PIN, HIGH);
}
AIL.writeMicroseconds(OUT_AIL);
ELE.writeMicroseconds(OUT_ELE);
// Print();
}
/****************************************************************************/
int Filter(int direct)
{
int i, j;
int filter_temp, filter_sum = 0;
int filter_buf[FILTER_N];
for (i = 0; i < FILTER_N; i++)
{
filter_buf[i] = analogRead(direct) * 3;
}
for (j = 0; j < FILTER_N - 1; j++)
{
for (i = 0; i < FILTER_N - 1 - j; i++)
{
if (filter_buf[i] > filter_buf[i + 1])
{
filter_temp = filter_buf[i];
filter_buf[i] = filter_buf[i + 1];
filter_buf[i + 1] = filter_temp;
}
}
}
for (i = 1; i < FILTER_N - 1; i++) filter_sum += filter_buf[i];
return filter_sum / (FILTER_N - 2);
}
/*void Print()
{
Serial.print("INAIL=");
Serial.print(RC_AIL);
Serial.print(" INELE=");
Serial.print(RC_ELE);
Serial.print(" OUTAIL=");
Serial.print(OUT_AIL);
Serial.print(" OUTELE=");
Serial.print(OUT_ELE);
Serial.print(" distance_Q=");
Serial.print(distance_Q);
Serial.print(" distance_H=");
Serial.print(distance_H);
Serial.print(" distance_Z=");
Serial.print(distance_Z);
Serial.print(" distance_Y=");
Serial.print(distance_Y);
Serial.println();
}*/
