Hallo ihr Hilfsbereiten.
Habe folgendes Problem .Habe einen Code den ich kopiert habe der bei Kompilieren mit der Fehlermeldung
No such file or directory quittiert wird.
Das Bord ist ein Arduino Uno .Der Code ist beigefügt. Da ich neu bin im Forum hoffe ich das die nötigen Infos reichen .Für eure Hilfe im Voraus besten Dank.
#include<Arduino_JSON.h>
#include <IRremote.h>
#include <Servo.h>
#include <stdio.h>
#include "HardwareSerial.h"
#include "ArduinoJson-v6.11.1.h" //Use ArduinoJson Libraries
#define f 16736925 // FORWARD
#define b 16754775 // BACK
#define l 16720605 // LEFT
#define r 16761405 // RIGHT
#define s 16712445 // STOP
#define UNKNOWN_F 5316027 // FORWARD
#define UNKNOWN_B 2747854299 // BACK
#define UNKNOWN_L 1386468383 // LEFT
#define UNKNOWN_R 553536955 // RIGHT
#define UNKNOWN_S 3622325019 // STOP
#define KEY1 16738455 //Line Teacking mode
#define KEY2 16750695 //Obstacles Avoidance mode
#define KEY_STAR 16728765
#define KEY_HASH 16732845
/*Arduino pin is connected to the IR Receiver*/
#define RECV_PIN 12
/*Arduino pin is connected to the Ultrasonic sensor module*/
#define ECHO_PIN A4
#define TRIG_PIN A5
const int ObstacleDetection = 35;
/*Arduino pin is connected to the Motor drive module*/
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define LED_Pin 13
/*Arduino pin is connected to the IR tracking module*/
#define LineTeacking_Pin_Right 10
#define LineTeacking_Pin_Middle 4
#define LineTeacking_Pin_Left 2
#define LineTeacking_Read_Right !digitalRead(10) //Right
#define LineTeacking_Read_Middle !digitalRead(4) //Middle
#define LineTeacking_Read_Left !digitalRead(2) //Left
#define carSpeed 250 //PWM(Motor speed/Speed)
unsigned int carSpeed_rocker = 250;
#define PIN_Servo 3
Servo servo; // Create a DC motor drive object
IRrecv irrecv(RECV_PIN); // Create an infrared receive drive object
decode_results results; // Create decoding object
unsigned long IR_PreMillis;
unsigned long LT_PreMillis;
int rightDistance = 0; //Right distance
int leftDistance = 0; //left Distance
int middleDistance = 0; //middle Distance
/*CMD_MotorControl: Motor Control： Motor Speed、Motor Direction、Motor Time*/
uint8_t CMD_MotorSelection;
uint8_t CMD_MotorDirection;
uint16_t CMD_MotorSpeed;
unsigned long CMD_leftMotorControl_Millis;
unsigned long CMD_rightMotorControl_Millis;
/*CMD_CarControl: Car Control：Car moving direction、Car Speed、Car moving time*/
uint8_t CMD_CarDirection;
uint8_t CMD_CarSpeed;
uint16_t CMD_CarTimer;
unsigned long CMD_CarControl_Millis;
uint8_t CMD_CarDirectionxxx;
uint8_t CMD_CarSpeedxxx;
uint16_t CMD_Distance;
String CommandSerialNumber; //
enum SERIAL_mode
{
Serial_rocker,
Serial_programming,
Serial_CMD,
} Serial_mode = Serial_programming;
enum FUNCTIONMODE
{
IDLE, /*free*/
LineTeacking, /*Line Teacking Mode*/
ObstaclesAvoidance, /*Obstacles Avoidance Mode*/
Bluetooth, /*Bluetooth Control Mode*/
IRremote, /*Infrared Control Mode*/
CMD_MotorControl, /*Motor Control Mode*/
CMD_CarControl, /*Car Control Mode*/
CMD_CarControlxxx, /*Car Control Mode*/
CMD_ClearAllFunctions, /*Clear All Functions Mode*/
} func_mode = IDLE; /*Functional mode*/
enum MOTIONMODE
{
LEFT, /*left*/
RIGHT, /*right*/
FORWARD, /*forward*/
BACK, /*back*/
STOP, /*stop*/
LEFT_FORWARD,
LEFT_BACK,
RIGHT_FORWARD,
RIGHT_BACK,
} mov_mode = STOP; /*move mode*/
void delays(unsigned long t)
{
for (unsigned long i = 0; i < t; i++)
{
getBTData_Plus(); //Bluetooth Communication Data Acquisition
getIRData(); //Infrared Communication Data Acquisition
delay(1);
}
}
/*ULTRASONIC*/
unsigned int getDistance(void)
{ //Getting distance
static unsigned int tempda = 0;
unsigned int tempda_x = 0;
digitalWrite(TRIG_PIN, LOW);
delayMicroseconds(2);
digitalWrite(TRIG_PIN, HIGH);
delayMicroseconds(10);
digitalWrite(TRIG_PIN, LOW);
tempda_x = ((unsigned int)pulseIn(ECHO_PIN, HIGH) / 58);
//tempda = tempda_x;
if (tempda_x > 150)
{
tempda_x = 150;
}
// return tempda;
return tempda_x;
}
/*
Control motor：Car movement forward
*/
void forward(bool debug, int16_t in_carSpeed)
{
analogWrite(ENA, in_carSpeed);
analogWrite(ENB, in_carSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
if (debug)
Serial.println("Go forward!");
}
/*
Control motor：Car moving backwards
*/
void back(bool debug, int16_t in_carSpeed)
{
analogWrite(ENA, in_carSpeed);
analogWrite(ENB, in_carSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
if (debug)
Serial.println("Go back!");
}
/*
Control motor：The car turns left and moves forward
*/
void left(bool debug, int16_t in_carSpeed)
{
analogWrite(ENA, in_carSpeed);
analogWrite(ENB, in_carSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
if (debug)
Serial.println("Go left!");
}
/*
Control motor：The car turns right and moves forward
*/
void right(bool debug, int16_t in_carSpeed)
{
analogWrite(ENA, in_carSpeed);
analogWrite(ENB, in_carSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
if (debug)
Serial.println("Go right!");
}
void forward_left(bool debug, int16_t in_carSpeed)
{
analogWrite(ENA, in_carSpeed / 2);
analogWrite(ENB, in_carSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
if (debug)
Serial.println("Go right!");
}
void forward_right(bool debug, int16_t in_carSpeed)
{
analogWrite(ENA, in_carSpeed);
analogWrite(ENB, in_carSpeed / 2);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
if (debug)
Serial.println("Go right!");
}
void back_left(bool debug, int16_t in_carSpeed)
{
analogWrite(ENA, in_carSpeed / 2);
analogWrite(ENB, in_carSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
if (debug)
Serial.println("Go right!");
}
void back_right(bool debug, int16_t in_carSpeed)
{
analogWrite(ENA, in_carSpeed);
analogWrite(ENB, in_carSpeed / 2);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
if (debug)
Serial.println("Go right!");
}
/*
Stop motor control：Turn off the motor drive
*/
void stop(bool debug = false)
{
digitalWrite(ENA, LOW);
digitalWrite(ENB, LOW);
if (debug)
Serial.println("Stop!");
}
/*
Servo Control angle Setting
*/
void ServoControl(uint8_t angleSetting)
{
if (angleSetting > 175)
{
angleSetting = 175;
}
else if (angleSetting < 5)
{
angleSetting = 5;
}
servo.attach(3);
servo.write(angleSetting); //sets the servo position according to the value
delays(500);
servo.detach();
}
/*
Infrared Communication Data Acquisition
*/
void getIRData(void)
{
if (irrecv.decode(&results))
{
IR_PreMillis = millis();
switch (results.value)
{
case f:
case UNKNOWN_F:
func_mode = IRremote;
mov_mode = FORWARD;
break; /*forward*/
case b:
case UNKNOWN_B:
func_mode = IRremote;
mov_mode = BACK;
break; /*back*/
case l:
case UNKNOWN_L:
func_mode = IRremote;
mov_mode = LEFT;
break; /*left*/
case r:
case UNKNOWN_R:
func_mode = IRremote;
mov_mode = RIGHT;
break; /*right*/
case s:
case UNKNOWN_S:
func_mode = IRremote;
mov_mode = STOP;
break; /*stop*/
case KEY1:
func_mode = LineTeacking;
break; /*Line Teacking Mode*/
case KEY2:
func_mode = ObstaclesAvoidance;
break; /*Obstacles Avoidance Mode*/
default:
break;
}
irrecv.resume();
}
}
/*
Bluetooth remote control mode
*/
void bluetooth_mode()
{
if (func_mode == Bluetooth)
{
switch (mov_mode)
{
case LEFT:
left(false, carSpeed_rocker);
break;
case RIGHT:
right(false, carSpeed_rocker);
break;
case FORWARD:
forward(false, carSpeed_rocker);
break;
case BACK:
back(false, carSpeed_rocker);
break;
case STOP:
stop();
break;
case LEFT_FORWARD:
forward_left(false, carSpeed_rocker);
break;
case LEFT_BACK:
back_left(false, carSpeed_rocker);
break;
case RIGHT_FORWARD:
forward_right(false, carSpeed_rocker);
break;
case RIGHT_BACK:
back_right(false, carSpeed_rocker);
break;
default:
break;
}
}
}
/*
Infrared remote control mode
*/
void irremote_mode(void)
{
if (func_mode == IRremote)
{
switch (mov_mode)
{
case FORWARD:
forward(false, carSpeed);
break;
case BACK:
back(false, carSpeed);
break;
case LEFT:
left(false, carSpeed);
break;
case RIGHT:
right(false, carSpeed);
break;
case STOP:
stop();
break;
default:
break;
}
if (millis() - IR_PreMillis > 500)
{
mov_mode = STOP;
IR_PreMillis = millis();
}
}
}
/*
Line Teacking Mode
*/
void line_teacking_mode(void)
{
if (func_mode == LineTeacking)
{
if (LineTeacking_Read_Middle)
{ //Detecting in the middle infrared tube
forward(false, 180); //Control motor：the car moving forward
LT_PreMillis = millis();
}
else if (LineTeacking_Read_Right)
{ //Detecting in the right infrared tube
right(false, 180); //Control motor：the car moving right
while (LineTeacking_Read_Right)
{
getBTData_Plus(); //Bluetooth data acquisition
getIRData(); //Infrared data acquisition
}
LT_PreMillis = millis();
}
else if (LineTeacking_Read_Left)
{ //Detecting in the left infrared tube
left(false, 180); //Control motor：the car moving left
while (LineTeacking_Read_Left)
{
getBTData_Plus(); //Bluetooth data acquisition
getIRData(); //Infrared data acquisition
}
LT_PreMillis = millis();
}
else
{
if (millis() - LT_PreMillis > 150)
{
stop(); //Stop motor control：Turn off motor drive mode
}
}
}
}
/*f(x) int */
static boolean function_xxx(long xd, long sd, long ed) //f(x)
{
if (sd <= xd && xd <= ed)
return true;
else
return false;
}
/*Obstacle avoidance*/
void obstacles_avoidance_mode(void)
{
static boolean first_is = true;
uint8_t switc_ctrl = 0;
if (func_mode == ObstaclesAvoidance)
{
if (first_is == true) //Enter the mode for the first time, and modulate the steering gear to 90 degrees
{
ServoControl(90);
first_is = false;
}
uint8_t get_Distance = getDistance();
if (function_xxx(get_Distance, 0, 20))
{
stop();
/*
------------------------------------------------------------------------------------------------------
ServoControl(30 * 1): 0 1 0 1 0 1 0 1
ServoControl(30 * 3): 0 0 1 1 0 0 1 1
ServoControl(30 * 5): 0 0 0 0 1 1 1 1
1 2 4 >>> 0 1 2 3 4 5 6 7
1 3 5 >>> 0 1 3 4 5 6 5 9
------------------------------------------------------------------------------------------------------
Truth table of obstacle avoidance state
*/
for (int i = 1; i < 6; i += 2) //1、3、5 Omnidirectional detection of obstacle avoidance status
{
ServoControl(30 * i);
get_Distance = getDistance();
delays(200);
if (function_xxx(get_Distance, 0, 5))
{
switc_ctrl = 10;
break;
}
else if (function_xxx(get_Distance, 0, 20)) //How many cm in the front have obstacles?
{
switc_ctrl += i;
}
}
ServoControl(90);
}
else if (function_xxx(get_Distance, 20, 50))
{
forward(false, 150); //Control car forwar
}
while (switc_ctrl)
{
switch (switc_ctrl)
{
case 1:
case 5:
case 6:
forward(false, 150); //Control car forwar
switc_ctrl = 0;
break;
case 3:
left(false, 250); //Control car left
switc_ctrl = 0;
break;
case 4:
left(false, 250); //Control car left
switc_ctrl = 0;
break;
case 8:
case 11:
right(false, 250); //Control car right
switc_ctrl = 0;
break;
case 9:
case 10:
back(false, 150); //Control car Car backwards
switc_ctrl = 11;
break;
}
ServoControl(90);
}
}
else
{
first_is = true;
}
}
/*****************************************************Begin@CMD**************************************************************************************/
/*
N21:command
CMD mode：Ultrasonic module：App controls module status, module sends data to app
*/
void CMD_UltrasoundModuleStatus_Plus(uint8_t is_get) //Ultrasonic module processing
{
//uint16_t
CMD_Distance = getDistance(); //Ultrasonic module measuring distance
if (1 == is_get) // is_get Start true：Obstacles / false:No obstacles
{
if (CMD_Distance <= 50)
{
Serial.print('{' + CommandSerialNumber + "_true}");
}
else
{
Serial.print('{' + CommandSerialNumber + "_false}");
}
}
else if (2 == is_get) //Ultrasonic is_get data
{
char toString[10];
sprintf(toString, "%d", CMD_Distance);
// Serial.print(toString);
Serial.print('{' + CommandSerialNumber + '_' + toString + '}');
}
}
/*
N22:command
CMD mode：Teacking module：App controls module status, module sends data to app
*/
void CMD_TraceModuleStatus_Plus(uint8_t is_get) //Tracking module processing
{
if (0 == is_get) /*Get traces on the left*/
{
if (LineTeacking_Read_Left)
{
//Serial.print("{true}");
Serial.print('{' + CommandSerialNumber + "_true}");
}
else
{
//Serial.print("{false}");
Serial.print('{' + CommandSerialNumber + "_false}");
}
}
else if (1 == is_get) /*Get traces on the middle*/
{
if (LineTeacking_Read_Middle)
{
//Serial.print("{true}");
Serial.print('{' + CommandSerialNumber + "_true}");
}
else
{
//Serial.print("{false}");
Serial.print('{' + CommandSerialNumber + "_false}");
}
}
else if (2 == is_get)
{ /*Get traces on the right*/
if (LineTeacking_Read_Right)
{
//Serial.print("{true}");
Serial.print('{' + CommandSerialNumber + "_true}");
}
else
{
//Serial.print("{false}");
Serial.print('{' + CommandSerialNumber + "_false}");
}
}
}
/*
N1:command
CMD mode：Sport mode <motor control> Control motor by app
Input：uint8_t is_MotorSelection, Motor selection 1：left 2：right 0：all
uint8_t is_MotorDirection, Motor steering 1：Forward 2：Reverse 0：stop
uint8_t is_MotorSpeed, Motor speed 0-250
*/
void CMD_MotorControl_Plus(uint8_t is_MotorSelection, uint8_t is_MotorDirection, uint8_t is_MotorSpeed)
{
static boolean MotorControl = false;
if (func_mode == CMD_MotorControl) //Motor control mode
{
MotorControl = true;
if (is_MotorSelection == 1 || is_MotorSelection == 0) //Left motor
{
if (is_MotorDirection == 1) //Positive rotation
{
analogWrite(ENA, is_MotorSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
}
else if (is_MotorDirection == 2) //Reverse
{
analogWrite(ENA, is_MotorSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
}
else if (is_MotorDirection == 0)
{
digitalWrite(ENA, LOW); //Turn off the motor enable pin
}
}
if (is_MotorSelection == 2 || is_MotorSelection == 0) //Right motor
{
if (is_MotorDirection == 1) //Positive rotation
{
analogWrite(ENB, is_MotorSpeed);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
else if (is_MotorDirection == 2) //Reverse
{
analogWrite(ENB, is_MotorSpeed);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
else if (is_MotorDirection == 0)
{
digitalWrite(ENB, LOW); //Turn off the motor enable pin
}
}
}
else
{
if (MotorControl == true)
{
MotorControl = false;
digitalWrite(ENA, LOW); //Turn off the motor enable pin
digitalWrite(ENB, LOW);
}
}
}
/*
N4：command
CMD mode：<Car control> APP control car
Time limited
*/
void CMD_CarControl_Plus(uint8_t is_CarDirection, uint8_t is_CarSpeed, uint8_t is_Timer)
{
static boolean CarControl = false;
static boolean CarControl_TE = false; //Have time to spend
static boolean CarControl_return = false;
if (func_mode == CMD_CarControl) //Car Control Mode
{
CarControl = true;
if (is_Timer != 0) //Setting time cannot be empty
{
if ((millis() - CMD_CarControl_Millis) > (is_Timer * 1000)) //check the time
{
CarControl_TE = true;
digitalWrite(ENA, LOW); //Turn off the motor enable pin
digitalWrite(ENB, LOW);
if (CarControl_return == false)
{
Serial.print('{' + CommandSerialNumber + "_ok}");
delay(1);
Serial.print('{' + CommandSerialNumber + "_ok}");
CarControl_return = true;
}
}
else
{
CarControl_TE = false; //Have time to spend
CarControl_return = false;
}
}
if (CarControl_TE == false)
{
switch (is_CarDirection)
{
case 1: /*Left-Forward Motion Mode*/
left(false, is_CarSpeed);
break;
case 2: /*Right-Forward Motion Mode*/
right(false, is_CarSpeed);
break;
case 3: /*Sport mode forward*/
forward(false, is_CarSpeed);
break;
case 4: /*Sport mode back*/
back(false, is_CarSpeed);
break;
default:
break;
}
}
}
else
{
if (CarControl == true)
{
CarControl_return = false;
CarControl = false;
digitalWrite(ENA, LOW); //Turn off the motor enable pin
digitalWrite(ENB, LOW);
CMD_CarControl_Millis = 0;
}
}
}
/*
N40：command
CMD mode：<Car control> APP control car
No time limit
*/
void CMD_CarControl_Plusxxx(uint8_t is_CarDirection, uint8_t is_CarSpeed)
{
static boolean CarControl = false;
if (func_mode == CMD_CarControlxxx) //Car Control Mode
{
CarControl = true;
switch (is_CarDirection)
{
case 1: /*Left-Forward Motion Mode*/
left(false, is_CarSpeed);
break;
case 2: /*Right-Forward Motion Mode*/
right(false, is_CarSpeed);
break;
case 3: /*Sport mode forward*/
forward(false, is_CarSpeed);
break;
case 4: /*Sport mode back*/
back(false, is_CarSpeed);
break;
default:
break;
}
}
else
{
if (CarControl == true)
{
CarControl = false;
digitalWrite(ENA, LOW); //Turn off the motor enable pin
digitalWrite(ENB, LOW);
}
}
}
/*
N5:command
CMD mode：
*/
void CMD_ClearAllFunctionsXXX(void)
{
if (func_mode == CMD_ClearAllFunctions)
{
mov_mode = STOP;
func_mode = IDLE;
digitalWrite(ENA, LOW); //Turn off the motor enable pin
digitalWrite(ENB, LOW);
/*CMD_MotorControl:Motor Control： Motor Speed、Motor Direction、Motor Time*/
CMD_MotorSelection = NULL;
CMD_MotorDirection = NULL;
CMD_MotorSpeed = NULL;
CMD_leftMotorControl_Millis = NULL;
CMD_rightMotorControl_Millis = NULL;
/*CMD_CarControl:Car Control：Car moving direction、Car Speed、Car moving time*/
CMD_CarDirection = NULL;
CMD_CarSpeed = NULL;
CMD_CarTimer = NULL;
CMD_CarControl_Millis = NULL;
}
}
void getDistance_xx(void)
{
CMD_Distance = getDistance(); //Ultrasonic measurement distance
}
/*****************************************************End@CMD**************************************************************************************/
/*
Bluetooth serial port data acquisition and control command parsing
*/
#include "hardwareSerial.h"
void getBTData_Plus(void)
{
static String SerialPortData = "";
uint8_t c = "";
if (Serial.available() > 0)
{
while ((c != '}') && Serial.available() > 0) //Forcibly wait for a frame of data to finish receiving
{
// while (Serial.available() == 0)
// ;
c = Serial.read();
SerialPortData += (char)c;
}
}
if (c == '}')
{
//Serial.println(SerialPortData);
StaticJsonDocument<200> doc; //Create a JsonDocument object
DeserializationError error = deserializeJson(doc, SerialPortData); //Deserialize JSON data
SerialPortData = "";
if (!error) //Check if deserialization is successful
{
int control_mode_N = doc["N"];
char buf[3];
uint8_t temp = doc["H"];
sprintf(buf, "%d", temp);
CommandSerialNumber = buf; //Get the serial number of the new command
switch (control_mode_N)
{
case 1: /*Motion module processing <command：N 1>*/
{
Serial_mode = Serial_programming;
func_mode = CMD_MotorControl;
CMD_MotorSelection = doc["D1"];
CMD_MotorDirection = doc["D2"];
CMD_MotorSpeed = doc["D3"];
Serial.print('{' + CommandSerialNumber + "_ok}");
}
break;
case 2: /*Remote switching mode processing <command：N 2>*/
{
Serial_mode = Serial_rocker;
int SpeedRocker = doc["D2"];
if (SpeedRocker != 0)
{
carSpeed_rocker = SpeedRocker;
}
if (1 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = LEFT;
// Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (2 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = RIGHT;
// Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (3 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = FORWARD;
//Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (4 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = BACK;
//Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (5 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = STOP;
//Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (6 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = LEFT_FORWARD;
//Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (7 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = LEFT_BACK;
//Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (8 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = RIGHT_FORWARD;
//Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (9 == doc["D1"])
{
func_mode = Bluetooth;
mov_mode = RIGHT_BACK;
//Serial.print('{' + CommandSerialNumber + "_ok}");
}
}
break;
case 3: /*Remote switching mode processing <command：N 3>*/
{
Serial_mode = Serial_rocker;
if (1 == doc["D1"]) // Line Teacking Mode
{
func_mode = LineTeacking;
Serial.print('{' + CommandSerialNumber + "_ok}");
}
else if (2 == doc["D1"]) //Obstacles Avoidance Mode
{
func_mode = ObstaclesAvoidance;
Serial.print('{' + CommandSerialNumber + "_ok}");
}
}
break;
case 4: /*Motion module processing <command：N 4>*/
{
Serial_mode = Serial_programming;
func_mode = CMD_CarControl;
CMD_CarDirection = doc["D1"];
CMD_CarSpeed = doc["D2"];
CMD_CarTimer = doc["T"];
CMD_CarControl_Millis = millis(); //Get the timestamp
//Serial.print("{ok}");
}
break;
case 5: /*Clear mode processing <command：N 5>*/
{
func_mode = CMD_ClearAllFunctions;
Serial.print('{' + CommandSerialNumber + "_ok}");
}
break;
case 6: /*CMD mode：angle Setting*/
{
uint8_t angleSetting = doc["D1"];
ServoControl(angleSetting);
Serial.print('{' + CommandSerialNumber + "_ok}");
}
break;
case 21: /*Ultrasonic module processing <command：N 21>*/
{
Serial_mode = Serial_programming;
CMD_UltrasoundModuleStatus_Plus(doc["D1"]);
}
break;
case 22: /*Trace module data processing <command：N 22>*/
{
Serial_mode = Serial_programming;
CMD_TraceModuleStatus_Plus(doc["D1"]);
}
break;
case 40:
{
Serial_mode = Serial_programming;
func_mode = CMD_CarControlxxx;
CMD_CarDirectionxxx = doc["D1"];
CMD_CarSpeedxxx = doc["D2"];
Serial.print('{' + CommandSerialNumber + "_ok}");
}
break;
default:
break;
}
}
}
else if (SerialPortData != "")
{
if (true == SerialPortData.equals("f"))
{
func_mode = CMD_CarControlxxx;
CMD_CarDirectionxxx = 3;
CMD_CarSpeedxxx = 180;
SerialPortData = "";
}
else if (true == SerialPortData.equals("b"))
{
func_mode = CMD_CarControlxxx;
CMD_CarDirectionxxx = 4;
CMD_CarSpeedxxx = 180;
SerialPortData = "";
}
else if (true == SerialPortData.equals("l"))
{
func_mode = CMD_CarControlxxx;
CMD_CarDirectionxxx = 1;
CMD_CarSpeedxxx = 180;
SerialPortData = "";
}
else if (true == SerialPortData.equals("r"))
{
func_mode = CMD_CarControlxxx;
CMD_CarDirectionxxx = 2;
CMD_CarSpeedxxx = 180;
SerialPortData = "";
}
else if (true == SerialPortData.equals("s"))
{
func_mode = Bluetooth;
mov_mode = STOP;
SerialPortData = "";
}
else if (true == SerialPortData.equals("1"))
{
func_mode = LineTeacking;
SerialPortData = "";
}
else if (true == SerialPortData.equals("2"))
{
func_mode = ObstaclesAvoidance;
SerialPortData = "";
}
}
}
void setup(void)
{
Serial.begin(9600); //initialization
ServoControl(90);
irrecv.enableIRIn(); //Enable infrared communication NEC
pinMode(ECHO_PIN, INPUT); //Ultrasonic module initialization
pinMode(TRIG_PIN, OUTPUT);
pinMode(IN1, OUTPUT); //Motor-driven port configuration
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(LineTeacking_Pin_Right, INPUT); //Infrared tracking module port configuration
pinMode(LineTeacking_Pin_Middle, INPUT);
pinMode(LineTeacking_Pin_Left, INPUT);
}
void loop(void)
{
getBTData_Plus(); //Bluetooth data acquisition
getIRData(); //Infrared data acquisition
bluetooth_mode(); //Bluetooth remote mode
irremote_mode(); //Infrared NEC remote control mode
line_teacking_mode(); //Line Teacking Mode
obstacles_avoidance_mode(); //Obstacles Avoidance Mode
CMD_Distance = getDistance(); //Ultrasonic measurement distance
/*CMD_MotorControl: Motor Control： Motor Speed、Motor Direction、Motor Time*/
CMD_MotorControl_Plus(CMD_MotorSelection, CMD_MotorDirection, CMD_MotorSpeed); //Control motor steering
/* CMD mode：<Car control> APP control car*/
CMD_CarControl_Plus(CMD_CarDirection, CMD_CarSpeed, CMD_CarTimer); //Control the direction of the car<Time limited>
CMD_CarControl_Plusxxx(CMD_CarDirectionxxx, CMD_CarSpeedxxx); //Control the direction of the car<No Time limited>
CMD_ClearAllFunctionsXXX();
}
[/code]`
