小型双轮差速底盘实现触须避障

1. 功能说明

     在R023d机器人车体上安装2个 触须传感器 ，实现机器人小车避障功能。

 2. 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主控板（兼容Arduino Uno）‍
扩展板	Bigfish2.1扩展板‍
传感器	触须传感器
电池	7.4V锂电池

电路连接：小车左轮电机连到Bigfish扩展板的D9，D10接口，小车右轮电机连到Bigfish扩展板的D5，D6；左侧触须传感器连接在Bigfish扩展板A4端口，右侧触须传感器连接在Bigfish扩展板A0端口（如下图所示）

 3. 功能实现

      编程环境：Arduino 1.8.19

      实现思路：机器人小车前进过程中，左边触须传感器触发后，小车右转；右边触须传感器触发后，小车左转；两个传感器同时触发后，小车后退、转弯并前进。

      将参考例程（sketch_apr23a.ino）下载到主控板，小车将实现避障功能，实验效果可参考演示视频。

/*------------------------------------------------------------------------------------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 at 机器谱 2023-04-23 */void tui();void youzhuan();void zuozhuan();void go();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) )){tui();delay( 1000 );zuozhuan();delay( 1000 );}else{if (( digitalRead(14) && !( digitalRead(18) ) )){tui();delay( 1000 );youzhuan();delay( 1000 );}else{if (( !( digitalRead(14) ) && !( digitalRead(18) ) )){tui();delay( 1000 );youzhuan();delay( 1000 );}else{go();}}}}void zuozhuan(){analogWrite(6 , 0);analogWrite(10 , 0);analogWrite(5 , 80);analogWrite(9 , 0);}void youzhuan(){analogWrite(6 , 80);analogWrite(10 , 0);analogWrite(5 , 0);analogWrite(9 , 0);}void go(){analogWrite(6 , 80);analogWrite(10 , 0);analogWrite(5 , 80);analogWrite(9 , 0);}void tui(){analogWrite(6 , 0);analogWrite(10 , 80);analogWrite(5 , 0);analogWrite(9 , 80);}

4. 资料内容

①触须避障-例程源代码

②触须避障-样机3D文件

资料内容详见：小型双轮差速底盘-触须避障