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1. 功能说明

       在机器人车体上安装2个 灰度传感器 ，实现机器人按照下图所指定的路线进行导航运动，来模拟仓库物流机器人按指定路线行进的工作过程。

 2. 使用样机

本实验使用的样机为R023e样机。

3. 功能实现

3.1 电子硬件

      在这个示例中，我们采用了以下硬件，请大家参考：

主控板	Basra（兼容Arduino Uno）
扩展板	SH-01外围电路扩展板（与Bigfish扩展板相似）‍
传感器	灰度传感器
电池	7.4V锂电池

电路连接说明：

① 电机连在D6，D10及D5，D9接口上；

② 2个灰度传感器分别接在扩展板的传感器接口A0、A4上。

3.2 编写程序

      传感器触发情况、小车行驶状态、对应行为策略表：

传感器1	传感器2	小车状态	动作
0	1	小车左偏	向右调整
1	0	小车右偏	向左调整
1	1	到达终点	停止
0	0	正常	前进

① 根据实验内容，利用多分支结构设计出程序流程图。

机器人轨迹导航任务流程图

② 根据设计好的程序流程图进行编程，编写并烧录以下程序（blackline_4if.ino），该程序将实现演示视频中的动作。

编程环境：Arduino 1.8.19

/*------------------------------------------------------------------------------------版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-02-09 https://www.robotway.com/                                   ------------------------------------------------------------------------------------*/void turnleft_slow();void forward();void carstop();void turnright_slow();void setup(){pinMode( 18, INPUT);pinMode( 14, INPUT);pinMode( 10, OUTPUT);pinMode( 6, OUTPUT);pinMode( 5, OUTPUT);pinMode( 9, OUTPUT);}void loop(){if (( digitalRead(14) && digitalRead(18) )){forward();}if (( !( digitalRead(14) ) && digitalRead(18) )){turnleft_slow();}if (( digitalRead(14) && !( digitalRead(18) ) )){turnright_slow();}if (( !( digitalRead(14) ) && !( digitalRead(18) ) )){carstop();delay( 5000 );}}void turnright_slow(){analogWrite(6 , 80);analogWrite(10 , 0);analogWrite(5 , 0);analogWrite(9 , 0);}void carstop(){analogWrite(6 , 0);analogWrite(10 , 0);analogWrite(5 , 0);analogWrite(9 , 0);}void turnleft_slow(){analogWrite(6 , 0);analogWrite(10 , 0);analogWrite(5 , 80);analogWrite(9 , 0);}void forward(){analogWrite(6 , 80);analogWrite(10 , 0);analogWrite(5 , 80);analogWrite(9 , 0);}

 也可以使用if…else嵌套写法(blackline_ifelse.ino)。

void stop();void left();void right();void forwards();void setup(){pinMode( 18, INPUT);pinMode( 14, INPUT);pinMode( 10, OUTPUT);pinMode( 6, OUTPUT);pinMode( 5, OUTPUT);pinMode( 9, OUTPUT);}void loop(){if (( !( digitalRead(14) ) && digitalRead(18) )){right();}else{if (( digitalRead(14) && !( digitalRead(18) ) )){left();}else{if (( !( digitalRead(14) ) && !( digitalRead(18) ) )){stop();}else{forwards();}}}}void stop(){analogWrite(5 , 0);analogWrite(9 , 0);analogWrite(6 , 0);analogWrite(10 , 0);}void right(){analogWrite(5 , 150);analogWrite(9 , 0);analogWrite(6 , 0);analogWrite(10 , 150);}void forwards(){analogWrite(5 , 150);analogWrite(9 , 0);analogWrite(6 , 150);analogWrite(10 , 0);}void left(){analogWrite(5 , 0);analogWrite(9 , 150);analogWrite(6 , 150);analogWrite(10 , 0);}

​资料内容详见 小型双轮差速底盘-双灰度循迹