儿童早教机器人的系统分析与实现

论文总字数：2672字

int Key0 = A0; //按键引脚

int Key1 = A1;

int Key2 = A2;

int Key3 = A3;

int Pin0 = 2; //电机驱动引脚

int Pin1 = 3;

int Pin2 = 4;

int Pin3 = 5;

int _step = 0;

boolean dir = false; //正反转

boolean isMotoRun = false; //上电时，电机不运行

int stepperSpeed = 10; //电机转速,1ms一步

void setup() {

pinMode(Pin0, OUTPUT); //电机引脚置为输出状态

pinMode(Pin1, OUTPUT);

pinMode(Pin2, OUTPUT);

pinMode(Pin3, OUTPUT);

pinMode(Key0, INPUT); //按键引脚置为输入状态

pinMode(Key1, INPUT);

pinMode(Key2, INPUT);

pinMode(Key3, INPUT);

digitalWrite(Pin0, LOW); //电机引脚模式低电平，不转动

digitalWrite(Pin1, LOW);

digitalWrite(Pin2, LOW);

digitalWrite(Pin3, LOW);

}

void loop() {

if (analogRead(Key0) lt; 200) //检测按键引脚电压，低于200就认为有按键按下

{

delay(10);

if (analogRead(Key0) lt; 200)

{

while (analogRead(Key0) lt; 200);

dir = false; //正转

isMotoRun = true;

}

}

if (analogRead(Key1) lt; 200) //检测按键引脚电压，低于200就认为有按键按下

{

delay(10);

if (analogRead(Key1) lt; 200)

{

while (analogRead(Key1) lt; 200);

dir = true; //反转

isMotoRun = true;

}

}

if (analogRead(Key2) lt; 200) //检测按键引脚电压，低于200就认为有按键按下

{

delay(10);

if (analogRead(Key2) lt; 200)

{

while (analogRead(Key2) lt; 200);

isMotoRun = true;

stepperSpeed--; //加速

if (stepperSpeed lt;= 2)

{

stepperSpeed = 2;

}

}

}

if (analogRead(Key3) lt; 200) //检测按键引脚电压，低于200就认为有按键按下

{

delay(10);

if (analogRead(Key3) lt; 200)

{

while (analogRead(Key3) lt; 200);

isMotoRun = true;

stepperSpeed ; //减速

if (stepperSpeed gt;= 10)

{

stepperSpeed = 10;

}

}

}

switch (_step) {

case 0:

digitalWrite(Pin0, HIGH);

digitalWrite(Pin1, LOW);

digitalWrite(Pin2, LOW);

digitalWrite(Pin3, LOW);

break;

case 1:

digitalWrite(Pin0, LOW);

digitalWrite(Pin1, HIGH);

digitalWrite(Pin2, LOW);

digitalWrite(Pin3, LOW);

break;

case 2:

digitalWrite(Pin0, LOW);

digitalWrite(Pin1, LOW);

digitalWrite(Pin2, HIGH);

digitalWrite(Pin3, LOW);

break;

case 3:

digitalWrite(Pin0, LOW);

digitalWrite(Pin1, LOW);

digitalWrite(Pin2, LOW);

digitalWrite(Pin3, HIGH);

break;

default:

digitalWrite(Pin0, LOW);

digitalWrite(Pin1, LOW);

digitalWrite(Pin2, LOW);

digitalWrite(Pin3, LOW);

break;

}

if (isMotoRun == true)

{

if (dir) {

_step ;

} else {

_step--;

}

if (_step gt; 3) {

_step = 0;

}

if (_step lt; 0) {

_step = 3;

}

}

delay(stepperSpeed);

}

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