小型双轮差速底盘机器人实现无线遥控功能

1. 功能说明

本文示例实现的功能为：利用探索者Birdmen手柄扩展板和探索者NRF无线通信模块遥控R023样机小型双轮差速底盘做出前进、后退以及转向的动作。

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） x2
扩展板	Bigfish2.1扩展板x1
扩展板	Birdmen手柄扩展板x1
通信	NRF无线通信模块x2
电池	7.4V锂电池

3. 功能实现

编程环境：Arduino 1.8.19

3.1下载固件

分别下载master_.ino和slave_.ino到两个Basra主控板（软件解析：master_.ino为上位机程序，slave_.ino为下位机程序）。

注意：先不要堆叠NRF无线通信模块，因为会占用串口，造成下载失败。

① 参考例程（master_.ino）：

/*------------------------------------------------------------------------------------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 2023-07-21 https://www.robotway.com/------------------------------*/int _ABVAR_1_A0Value = 0 ;int _ABVAR_2_A1Value = 0 ;void ADGet();void SerialPrint();void setup(){Serial.begin(9600);}void loop(){ADGet();SerialPrint();delay( 100 );}void SerialPrint(){if (( ( ( _ABVAR_1_A0Value ) == ( 0 ) ) && ( ( _ABVAR_2_A1Value ) == ( 1 ) ) )){Serial.print("1");Serial.println();}if (( ( ( _ABVAR_1_A0Value ) == ( 1 ) ) && ( ( _ABVAR_2_A1Value ) == ( 0 ) ) )){Serial.print("2");Serial.println();}if (( ( ( _ABVAR_1_A0Value ) == ( 1 ) ) && ( ( _ABVAR_2_A1Value ) == ( 1 ) ) )){Serial.print("3");Serial.println();}if (( ( ( _ABVAR_1_A0Value ) == ( 1 ) ) && ( ( _ABVAR_2_A1Value ) == ( 2 ) ) )){Serial.print("4");Serial.println();}if (( ( ( _ABVAR_1_A0Value ) == ( 2 ) ) && ( ( _ABVAR_2_A1Value ) == ( 1 ) ) )){Serial.print("5");Serial.println();}}void ADGet(){_ABVAR_1_A0Value = analogRead(14) ;_ABVAR_2_A1Value = analogRead(15) ;_ABVAR_1_A0Value = map ( _ABVAR_1_A0Value , 0 , 1024 , 0 , 3 )   ;_ABVAR_2_A1Value = map ( _ABVAR_2_A1Value , 0 , 1024 , 0 , 3 )   ;}

② 参考例程（slave_.ino）：

/*------------------------------------------------------------------------------------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 2023-07-21 https://www.robotway.com/------------------------------*/int _ABVAR_1__data = 0 ;int _ABVAR_2__data_his = 0 ;int _ABVAR_3_0 = 0 ;void Right();void Select();void Left();void Stop();void Forward();void Back();void setup(){Serial.begin(9600);pinMode( 5 , OUTPUT);pinMode( 6 , OUTPUT);pinMode( 9 , OUTPUT);pinMode( 10 , OUTPUT);_ABVAR_1__data = 3 ;_ABVAR_2__data_his = 3 ;}void loop(){_ABVAR_1__data = Serial.parseInt() ;if (( ( _ABVAR_1__data ) > ( 0 ) )){Select();}else{_ABVAR_1__data = _ABVAR_2__data_his ;Select();}_ABVAR_2__data_his = _ABVAR_1__data ;_ABVAR_1__data = _ABVAR_3_0 ;delay( 50 );}void Left(){digitalWrite( 5 , LOW );digitalWrite( 6 , HIGH );digitalWrite( 9 , HIGH );digitalWrite( 10 , LOW );}void Stop(){digitalWrite( 5 , LOW );digitalWrite( 6 , LOW );digitalWrite( 9 , LOW );digitalWrite( 10 , LOW );}void Back(){digitalWrite( 5 , LOW );digitalWrite( 6 , HIGH );digitalWrite( 9 , LOW );digitalWrite( 10 , HIGH );}void Forward(){digitalWrite( 5 , HIGH );digitalWrite( 6 , LOW );digitalWrite( 9 , HIGH );digitalWrite( 10 , LOW );}void Select(){if (( ( _ABVAR_1__data ) == ( 1 ) )){Forward();}if (( ( _ABVAR_1__data ) == ( 2 ) )){Back();}if (( ( _ABVAR_1__data ) == ( 3 ) )){Stop();}if (( ( _ABVAR_1__data ) == ( 4 ) )){Left();}if (( ( _ABVAR_1__data ) == ( 5 ) )){Right();}}void Right(){digitalWrite( 5 , HIGH );digitalWrite( 6 , LOW );digitalWrite( 9 , LOW );digitalWrite( 10 , HIGH );}