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arduino吧 关注：75,213贴子：229,818
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【arduino】代码有问题，折腾几天了，谁能帮帮我。

const int backwheel1=22;
const int backwheel2=24;
const int backwheel3=26;
const int backwheel4=28;
const int FRONT_01=30;
const int FRONT_02=32;
const int FRONT_03=34;
const int FRONT_04=36;
const int FRONT_11=38;
const int FRONT_12=40;
const int FRONT_13=42;
const int FRONT_14=44;
const String forward="GO";
const String draw_back="DB";
const String left="L";
const String right="R";
const String Exchange1="EX1";
const String Stop="S";
const String Exchange2="EX2";
void setup()
{
pinMode(backwheel1,OUTPUT);
pinMode(backwheel2,OUTPUT);
pinMode(backwheel3,OUTPUT);
pinMode(backwheel4,OUTPUT);
pinMode(FRONT_01,OUTPUT);
pinMode(FRONT_02,OUTPUT);
pinMode(FRONT_03,OUTPUT);
pinMode(FRONT_04,OUTPUT);
pinMode(FRONT_11,OUTPUT);
pinMode(FRONT_12,OUTPUT);
pinMode(FRONT_13,OUTPUT);
pinMode(FRONT_14,OUTPUT);
Serial.begin(9600);
}
void march ()
{
digitalWrite(backwheel1,HIGH);
digitalWrite(backwheel3,HIGH);
digitalWrite(backwheel2,LOW);
digitalWrite(backwheel4,LOW);
digitalWrite(FRONT_01,HIGH);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,HIGH);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,HIGH);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,HIGH);
delay(10);
digitalWrite(FRONT_11,HIGH);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,HIGH);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,HIGH);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,HIGH);
delay(10);
}
void back()
{
digitalWrite(backwheel1,LOW);
digitalWrite(backwheel3,LOW);
digitalWrite(backwheel2,HIGH);
digitalWrite(backwheel4,HIGH);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,HIGH);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,HIGH);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,HIGH);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,HIGH);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,HIGH);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,HIGH);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,HIGH);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,HIGH);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
}
void turn_left()
{
digitalWrite(backwheel1,LOW);
digitalWrite(backwheel3,HIGH);
digitalWrite(backwheel2,HIGH);
digitalWrite(backwheel4,LOW);
for(int x=0;x<=10;x++)
{
digitalWrite(FRONT_11,HIGH);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,HIGH);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,HIGH);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,HIGH);
delay(10);
}
for(int x=10;x>=0;x--)
{
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,HIGH);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,HIGH);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,HIGH);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,HIGH);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
}
}
void turn_right()
{
digitalWrite(backwheel1,HIGH);
digitalWrite(backwheel3,LOW);
digitalWrite(backwheel2,LOW);
digitalWrite(backwheel4,HIGH);
for(int x=0;x>=0;x++)
{
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,HIGH);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,HIGH);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,HIGH);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,HIGH);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
}
for(int x=0; x<=10;x--)
{
digitalWrite(FRONT_01,HIGH);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,HIGH);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,HIGH);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,HIGH);
delay(10);
}
}
void exchange1()
{
digitalWrite(FRONT_01,HIGH);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,HIGH);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,HIGH);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,HIGH);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,HIGH);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,HIGH);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,HIGH);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,HIGH);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
}
void exchange2()
{
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,HIGH);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,HIGH);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,HIGH);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,HIGH);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_11,HIGH);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,HIGH);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,HIGH);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,HIGH);
delay(10);
}
void STOP()
{
digitalWrite(backwheel1,LOW);
digitalWrite(backwheel3,LOW);
digitalWrite(backwheel2,LOW);
digitalWrite(backwheel4,LOW);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_01,LOW);
digitalWrite(FRONT_02,LOW);
digitalWrite(FRONT_03,LOW);
digitalWrite(FRONT_04,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
digitalWrite(FRONT_11,LOW);
digitalWrite(FRONT_12,LOW);
digitalWrite(FRONT_13,LOW);
digitalWrite(FRONT_14,LOW);
delay(10);
}
String readTtl()
{
while (Serial.available())
{
comdata += char(Serial.read());
delay(2);
}
return comdata;
}
//String readTt(){
// String comdata= "GO";
// String comdata="DB";
//};
void loop() {
String s =readTtl();
if(s==forward) march();
if(s==draw_back) draw_back();
if(s==left) turn_left();
if(s==right) turn_right();
if(s==Exchange1) exchange1();
if(s==Exchange2) exchange2();
if(s==Stop) STOP();
}


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