# 課程內容
**開燈**
```c=
void setup() {
pinMode(11,OUTPUT);
pinMode(12,OUTPUT);
pinMode(13,OUTPUT);
}
void loop() {
digitalWrite(13,HIGH);
digitalWrite(12,HIGH);
delay(200);
digitalWrite(13,LOW);
digitalWrite(12,LOW);
delay(200);
digitalWrite(12,HIGH);
digitalWrite(11,HIGH);
delay(200);
digitalWrite(12,LOW);
digitalWrite(11,LOW);
delay(200);
digitalWrite(11,HIGH);
digitalWrite(13,HIGH);
delay(200);
digitalWrite(11,LOW);
digitalWrite(13,LOW);
delay(200);
}
```
**超音波**
```c=
int trigPin = 10; //Trig Pin
int echoPin = 9; //Echo Pin
long duration, cm, inches;
void setup() {
Serial.begin (9600); // Serial Port begin
pinMode(trigPin, OUTPUT); // 定義輸入及輸出
pinMode(echoPin, INPUT);
}
void loop()
{
digitalWrite(trigPin, LOW);
delayMicroseconds(5);
digitalWrite(trigPin, HIGH); // 給 Trig 高電位，持續 10微秒
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
pinMode(echoPin, INPUT); // 讀取 echo 的電位
duration = pulseIn(echoPin, HIGH); // 收到高電位時的時間
cm = (duration/2) / 29.1; // 將時間換算成距離 cm 或 inch
inches = (duration/2) / 74;
Serial.print("Distance : ");
Serial.print(inches);
Serial.print("in, ");
Serial.print(cm);
Serial.print("cm");
Serial.println();
delay(250);
}
```
**超音波感測燈**
```c=
int trigPin = 10; // 超音波感接 Arduino pin 11
int echoPin = 9; //超音波感測器 Echo 腳接 Arduino pin 12
int speakerpin = 7; //蜂鳴器 + 腳接 Arduino pin 7
long duration, cm ; //宣告計算距離時，需要用到的兩個實數
void setup() {
Serial.begin (9600); //設定序列埠監控視窗 (Serial Monitor) 和 Arduino資料傳輸速率為 9600 bps (Bits Per Second)
pinMode(trigPin, OUTPUT); //Arduino 對外啟動距離感測器Trig腳，射出超音波
pinMode(echoPin, INPUT); //超音波被障礙物反射後，Arduino讀取感測器Echo腳的時間差
pinMode(speakerpin, OUTPUT); //Arduino對蜂鳴器送出電壓，使其鳴叫
pinMode(11,OUTPUT);
pinMode(12,OUTPUT);
pinMode(13,OUTPUT);
}
void loop()
{ //程式計算出距離值 cm
digitalWrite(trigPin, LOW);
delayMicroseconds(5);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);
cm = (duration/2) / 29.1;
Serial.print(cm); //印出距離值 cm 在序列埠監控顯示器 單位公分
Serial.println(" cm");
if (cm <= 10) { //距離小於5公分，蜂鳴器一直叫
digitalWrite(13, HIGH);
delay (cm*25);
digitalWrite(13, LOW);
delay (cm*25);
}
if (cm > 20 && cm <= 50) {
//距離介於5到15公分，蜂鳴器斷斷續續叫，每次0.1秒
digitalWrite(12, HIGH);
delay (cm*50);
digitalWrite(12, LOW);
delay (cm*50);
}
if (cm > 50){ // 距離大於15公分，蜂鳴器斷斷續續叫，每次0.5秒
digitalWrite(11, HIGH);
delay (cm*100);
digitalWrite(11, LOW);
delay (cm*100);
}
delay(10);
}
```
# 專題製作
**避障自走車**
```c=
#include <Arduino.h>
#include <Wire.h>
#include <SoftwareSerial.h>
float turn = 0;
float Distance = 0;
float Distance_left = 0;
float Distance_right = 0;
float getDistance(int trig,int echo){
pinMode(trig,OUTPUT);
digitalWrite(trig,LOW);
delayMicroseconds(2);
digitalWrite(trig,HIGH);
delayMicroseconds(10);
digitalWrite(trig,LOW);
pinMode(echo, INPUT);
return pulseIn(echo,HIGH,30000)/58.0;
}
void go(){
analogWrite(5,0);
analogWrite(6,200);
analogWrite(9,200);
analogWrite(10,0);
}
void left(){
analogWrite(5,0);
analogWrite(6,200);
analogWrite(9,0);
analogWrite(10,200);
}
void right(){
analogWrite(5,200);
analogWrite(6,0);
analogWrite(9,200);
analogWrite(10,0);
}
void a(){
analogWrite(5,0);
analogWrite(6,0);
analogWrite(9,0);
analogWrite(10,0);
}
void _delay(float seconds) {
long endTime = millis() + seconds * 1000;
while(millis() < endTime) _loop();
}
void setup() {
pinMode(5,OUTPUT);
pinMode(6,OUTPUT);
pinMode(9,OUTPUT);
pinMode(10,OUTPUT);
while(1) {
Distance = getDistance(3,2);
Distance_left = getDistance(13,12);
Distance_right = getDistance(11,8);
if(Distance > 15){
go();
}else{
if(Distance_left > 15){
left();
}else{
if(Distance_right > 15){
right();
}else{
a();
}
}
}
_loop();
}
}
void _loop() {
}
void loop() {
_loop();
}
```
```=
#include <Arduino.h>
#include <Wire.h>
#include <SoftwareSerial.h>
float turn = 0;
float Distance = 0;
float Distance_left = 0;
float Distance_right = 0;
float getDistance(int trig,int echo){
pinMode(trig,OUTPUT);
digitalWrite(trig,LOW);
delayMicroseconds(2);
digitalWrite(trig,HIGH);
delayMicroseconds(10);
digitalWrite(trig,LOW);
pinMode(echo, INPUT);
return pulseIn(echo,HIGH,30000)/58.0;
}
void go(){
analogWrite(5,200);
analogWrite(6,0);
analogWrite(9,0);
analogWrite(10,200);
}
void left(int a){
analogWrite(5,0);
analogWrite(6,a);
analogWrite(9,0);
analogWrite(10,a);
}
void right(int a){
analogWrite(5,a);
analogWrite(6,0);
analogWrite(9,a);
analogWrite(10,0);
}
void a(){
analogWrite(5,0);
analogWrite(6,100);
analogWrite(9,100);
analogWrite(10,0);
}
void _delay(float seconds) {
long endTime = millis() + seconds * 1000;
while(millis() < endTime) _loop();
}
void setup() {
pinMode(5,OUTPUT);
pinMode(6,OUTPUT);
pinMode(9,OUTPUT);
pinMode(10,OUTPUT);
while(1) {
Distance = getDistance(3,2);
Distance_left = getDistance(13,12);
Distance_right = getDistance(11,8);
if(Distance > 15){
go();
if(Distance_left>Distance_right){
left(25);
}else{right(25);
}
}else{
if(Distance_left > 15){
left(200);
}else{
if(Distance_right > 15){
right(200);
}else{
a();
}
}
}
_loop();
}
}
void _loop() {
}
void loop() {
_loop();
}
```
```c=
#include <AFMotor.h>
#include <MsTimer2.h>
AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);
AF_DCMotor motor4(4);
// PID参数 (PID Parameters)
double Setpoint = 0.0; // 目标距离（根据传感器单位调整） (Target distance - adjust based on sensor unit)
double Kp = 1.5; // 比例增益 (Proportional gain)
double Ki = 0.0; // 积分增益 (Integral gain)
double Kd = 5; // 微分增益 (Derivative gain)
double Input, Output, previousError, integral;
//Ultrasonic sensor pins
const int frontTrigPin = A4;
const int frontEchoPin = A5;
const int leftTrigPin = A0;
const int leftEchoPin = A1;
const int rightTrigPin = A2;
const int rightEchoPin = A3;
//Other variables
double leftDistance, rightDistance, frontDistance;
double getDistance(int trigPin, int echoPin) {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
double distance = pulseIn(echoPin, HIGH) / 58.0; // Convert to centimeters
//Limit the distance to a maximum of 100 centimeters
/*if (distance > 100.0) {
distance = 100.0;
}*/
return distance;
}
double forward(){
//Calculate PID control input using distances from left and right ultrasonic sensors
Input = leftDistance - rightDistance;
//Manual PID control calculation
double error = Setpoint - Input; //Error
integral += error; //Accumulated error
double derivative = error - previousError; //Rate of change of error
Output = Kp * error + Ki * integral + Kd * derivative;
previousError = error; //Save current error for the next iteration
if (Output > 255.0) {
Output = 255.0;
}
//Adjust motor speed based on PID output
int leftMotorSpeed = 255 - Output;
int rightMotorSpeed = 255 + Output;
//Control motors using the AFMotor library
motor2.setSpeed(leftMotorSpeed);
motor2.run(FORWARD);
motor1.setSpeed(rightMotorSpeed);
motor1.run(FORWARD);
motor3.setSpeed(leftMotorSpeed);
motor3.run(FORWARD);
motor4.setSpeed(rightMotorSpeed);
motor4.run(FORWARD);
}
void setup() {
//Initialize ultrasonic sensor pins
pinMode(frontTrigPin, OUTPUT);
pinMode(frontEchoPin, INPUT);
pinMode(leftTrigPin, OUTPUT);
pinMode(leftEchoPin, INPUT);
pinMode(rightTrigPin, OUTPUT);
pinMode(rightEchoPin, INPUT);
//Initialize serial communication
Serial.begin(9600);
}
int k=6;
void loop() {
//Read left and right ultrasonic sensor distances
leftDistance = getDistance(leftTrigPin, leftEchoPin);
rightDistance = getDistance(rightTrigPin, rightEchoPin);
frontDistance = getDistance(frontTrigPin, frontEchoPin);
if(k<=3){k++;if(rightDistance>leftDistance){
motor1.run(BACKWARD);
motor1.setSpeed(255);
motor4.run(BACKWARD);
motor4.setSpeed(255);
motor2.run(FORWARD);
motor2.setSpeed(255);
motor3.run(FORWARD);
motor3.setSpeed(255);
}
else{
motor2.run(BACKWARD);
motor2.setSpeed(255);
motor3.run(BACKWARD);
motor3.setSpeed(255);
motor1.run(FORWARD);
motor1.setSpeed(255);
motor4.run(FORWARD);
motor4.setSpeed(255);
}}else{
if(frontDistance>20){
forward();
}
else if(frontDistance<30){k=0;
if(rightDistance>leftDistance){
motor1.run(BACKWARD);
motor1.setSpeed(255);
motor4.run(BACKWARD);
motor4.setSpeed(255);
motor2.run(FORWARD);
motor2.setSpeed(255);
motor3.run(FORWARD);
motor3.setSpeed(255); }
else{
motor2.run(BACKWARD);
motor2.setSpeed(255);
motor3.run(BACKWARD);
motor3.setSpeed(255);
motor1.run(FORWARD);
motor1.setSpeed(255);
motor4.run(FORWARD);
motor4.setSpeed(255);
}
}
//Output debug information
Serial.print("前方距离："); // Left Distance
Serial.print(frontDistance);
Serial.print("左方距离："); // Left Distance
Serial.print(leftDistance);
Serial.print("右方距离："); // Right Distance
Serial.print(rightDistance);
Serial.print(" Intput："); // Input
Serial.print(Input);
Serial.print(" Output："); // Output
Serial.println(Output);
}}
```
```c=
#include <Arduino.h>
#include <Wire.h>
#include <SoftwareSerial.h>
float turn = 0;
float Distance = 0;
float Distance_left = 0;
float Distance_right = 0;
float getDistance(int trig,int echo){
pinMode(trig,OUTPUT);
digitalWrite(trig,LOW);
delayMicroseconds(2);
digitalWrite(trig,HIGH);
delayMicroseconds(10);
digitalWrite(trig,LOW);
pinMode(echo, INPUT);
return pulseIn(echo,HIGH,30000)/58.0;
}
void go(){
analogWrite(5,200);
analogWrite(6,0);
analogWrite(9,0);
analogWrite(10,200);
}
void left(int a){
analogWrite(5,0);
analogWrite(6,a);
analogWrite(9,0);
analogWrite(10,a);
}
void right(int a){
analogWrite(5,a);
analogWrite(6,0);
analogWrite(9,a);
analogWrite(10,0);
}
void a(){
analogWrite(5,0);
analogWrite(6,200);
analogWrite(9,200);
analogWrite(10,0);
}
void right1(int k){
while(k>=0){
right(200);k--;
}
}
void left1(int k){
while(k>=0){
left(200);k--;
}
}
void _delay(float seconds) {
long endTime = millis() + seconds * 1000;
while(millis() < endTime) _loop();
}
void setup() {
pinMode(5,OUTPUT);
pinMode(6,OUTPUT);
pinMode(9,OUTPUT);
pinMode(10,OUTPUT);
while(1) {
Distance = getDistance(3,2);
Distance_left = getDistance(13,12);
Distance_right = getDistance(11,8);
if(Distance > 15){
int k=(Distance_left- Distance_right)*10;
if(Distance_left>Distance_right){
analogWrite(5,210);
analogWrite(6,k);
analogWrite(9,0);
analogWrite(10,210+k);
}else{analogWrite(5,210-k);
analogWrite(6,0);
analogWrite(9,-k);
analogWrite(10,210);
}
}else{
if(Distance_left <15 && Distance_right <15){
a();
}else{
if(Distance_right > Distance_left){
right1(5);
}else{
left1(7);
}
}
}
_loop();
}
}
void _loop() {
}
void loop() {
_loop();
}
```
**循跡自走車**
# 遇到問題與解決方法
1. 腳位不能接1和0，因為接收外部訊息用
# 參考內容
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