arduino自走車

今天心血來潮來做自走車，今天是做用序列窗控制馬達正反轉及轉速的實驗

程式碼如下：
const int M1_enable = 5;　　//定義腳位
const int M2_enable = 6;
const int M1_int1 = 12;
const int M1_int2 = 11;
const int M2_int3 = 10;
const int M2_int4 =  9;
int speed = 0;
void setup() {
Serial.begin(9600);     //將狀態顯示在序列窗上
pinMode(M1_int1, OUTPUT);   //設定pin腳為輸出
pinMode(M1_int2, OUTPUT);
pinMode(M2_int3, OUTPUT);
pinMode(M2_int4, OUTPUT);
Serial. println(" '+':speed up   '-':speed down   'F':forward,  'B':backward,  others:Stop");  //指令設定
}

void loop() {
  int _speed;

if (Serial. available()) {
  char ch = Serial.read();
if (ch=='+') {
  speed ++;
 if (speed>10) speed=10;
 _speed =map(speed, 1, 10, 60,  255);

 Serial.print("speed , _speed=> "); Serial.print(speed); Serial.print(" , ");
 Serial.println(_speed);
 analogWrite(M1_enable, _speed);
 analogWrite(M2_enable, _speed);
} else if (ch== '-'){
  speed--;
 if (speed<=0){
  speed=0;
  _speed=0;
 } else {
 _speed = map(speed, 1, 10,  60, 255);
 }

 Serial.print("speed , _speed=>");
 Serial.print(speed);
 Serial.print( " , ");
 Serial.print(_speed);
 analogWrite(M1_enable, _speed);
 analogWrite(M2_enable, _speed);
 } else if (ch== 'F') {
 
Serial.println("forward");
   digitalWrite(M1_int1, HIGH);  //right正轉
   digitalWrite(M1_int2, LOW);
   digitalWrite(M2_int3, HIGH);  //lift正轉
   digitalWrite(M2_int4,  LOW );
 } else if (ch=='B') {

 Serial.println("backward");
   digitalWrite(M1_int1, LOW);  //right反轉
   digitalWrite(M1_int2, HIGH);
   digitalWrite(M2_int3, LOW);  //lift反轉
   digitalWrite(M2_int4, HIGH);
  }else {
 
 Serial.println("Stop" );
    speed=0;
    analogWrite(M1_enable, speed);
    analogWrite(M2_enable, speed);
  }
}
}

序列窗畫面

載入後執行序列窗就會這樣,當下達  F 的指令就是前進但此時的轉速是0,因此還要在下 + 轉速從0變為60,在按 + 會依序增加20直到255極限, B 是倒退, 一樣按 + 增加轉速;相反按  - 是降速
O 是停止的意思