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출처 : 블루투스 HC-06 슬레이브 모듈 아두이노 소스 + 안드로이드 앱 소스 | Hard Copy Arduino
HC-SR04 센서 배선
HC-SR04 센서 소스
#include <Ultrasonic.h>
Ultrasonic ultrasonic(10,11); // (Trig PIN,Echo PIN)
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
}
void loop() {
// put your main code here, to run repeatedly:
Serial.print(ultrasonic.Ranging(CM)); // CM or INC
Serial.println(" cm" );
delay(100);
}
HC-SR04 센서 연동 RC CAR 배선
HC-SR04 센서 연동 RC CAR 소스
#include <Ultrasonic.h>
#include <SoftwareSerial.h>
SoftwareSerial btSerial(9, 8); //Connect HC-06. Use your (TX, RX) settings
Ultrasonic ultrasonic(10,11); // (Trig PIN,Echo PIN)
//모터A 컨트롤
int enA = 6;
int IN1 = 7;
int IN2 = 5;
//모터B 컨트롤
int enB = 3;
int IN3 = 4;
int IN4 = 2;
String receiveStr=""; //받는 문자열
String olfReceiveStr=""; //받는 문자열
#define MOTER_SPEED 255 // MAX 255
void setup()
{
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
Serial.begin(9600);
Serial.println("Hello!");
btSerial.begin(9600); // set the data rate for the BT port
}
void loop()
{
analogWrite(enA, MOTER_SPEED);
analogWrite(enB, MOTER_SPEED);
int value = ultrasonic.Ranging(CM);
Serial.print(value); // CM or INC
Serial.print(" cm / " );
if (value <= 15) {
//stopAllMotor();
loop_bluetooth(false);
} else {
loop_bluetooth(true);
//loop_line_tracer();
}
Serial.print("\n");
}
void loop_bluetooth(boolean is_forward) {
// put your main code here, to run repeatedly:
receiveStr="";
while(btSerial.available()) //mySerial에 전송된 값이 있으면
{
char myChar = (char)btSerial.read(); //mySerial int 값을 char 형식으로 변환
receiveStr+=myChar; //수신되는 문자를 receiveStr에 모두 붙임 (1바이트씩 전송되는 것을 연결)
delay(5); //수신 문자열 끊김 방지
}
if (receiveStr.length() > 0) {
Serial.print(receiveStr);
if (receiveStr == "F") {
if (is_forward) {
bothMotorStart(); // 전진
} else {
stopAllMotor();
}
} else if (receiveStr == "S") {
stopAllMotor();
} else if (receiveStr == "R") {
turnRight(); // 오른쪽으로 턴
} else if (receiveStr == "L") {
turnLeft(); // 왼쪽으로 턴
} else if (receiveStr == "B") {
bothMotorBack(); // 후진
}
olfReceiveStr = receiveStr;
} else if (!is_forward && olfReceiveStr == "F") {
stopAllMotor();
}
}
//모터A,B 정회전
void bothMotorStart()
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
}
//모터A,B 역회전
void bothMotorBack()
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
}
//모터A,B Stop
void stopAllMotor()
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
}
//모터A 역회전, 모터B 정회전
void turnLeft()
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
}
//모터A 정회전, 모터B 역회전
void turnRight()
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
}
//모터A 정회전, 모터B Stop
void motorA_Rotation()
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
}
//모터A Stop, 모터B 정회전
void motorB_Rotation()
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
}
//모터A 역회전, 모터B Stop
void motorA_Reverse()
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
}
//모터A Stop, 모터B 역회전
void motorB_Reverse()
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
}728x90
