2020年电赛C题小车代码msp430F5529

Energia编程：
#define STOP 0
#define FORWARD 1
#define BACKWARD 2
#define TURNLEFT 3
#define TURNRIGHT 4

const int L298pin1 = P6_0; // 控制左右两个电机
const int L298pin2 = P6_1;
const int L298pin3 = P6_2;
const int L298pin4 = P6_3;
const int ENA = P2_4;//控制PWM
const int ENB = P2_5;
const int sensor1 = P2_3;//四路传感器
const int sensor2 = P2_6;
const int sensor3 = P1_4;
const int sensor4 = P1_5;

const int pinBuzzer = P1_6;

void setup()
{
Serial.begin(9600);
pinMode(L298pin1,OUTPUT);
pinMode(L298pin2,OUTPUT);
pinMode(L298pin3,OUTPUT);
pinMode(L298pin4,OUTPUT);

pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);

pinMode(pinBuzzer,OUTPUT);

pinMode(sensor1,INPUT);
pinMode(sensor2,INPUT);
pinMode(sensor3,INPUT);
pinMode(sensor4,INPUT);

}
void loop()
{
tracing();
}
void loop2()//无源蜂鸣器
{
long frequency=900;//频率, 单位Hz
//用tone()函数发出频率为frequency的波形
tone(pinBuzzer, frequency );
delay(1000); //等待1000毫秒

noTone(pinBuzzer);//停止发声
delay(2000); //等待2000毫秒

}
void motorRun(int cmd,int value)//定义函数，两个形参分别：cmd控制方向，value是速度值
{
analogWrite(ENA, value);//设置PWM输出，value设置速度
analogWrite(ENB, value);
switch(cmd){
case FORWARD:
Serial.println(“FORWARD”);//前进
digitalWrite(L298pin1,HIGH);
digitalWrite(L298pin2,LOW);
digitalWrite(L298pin3,HIGH);
digitalWrite(L298pin4,LOW);
break;
case BACKWARD:
Serial.println(“BACKWARD”);//后退
digitalWrite(L298pin1,LOW);
digitalWrite(L298pin2,HIGH);
digitalWrite(L298pin3,LOW);
digitalWrite(L298pin4,HIGH);
break;
case TURNLEFT:
Serial.println(“TURN LEFT”);//向左
digitalWrite(L298pin1,LOW);
digitalWrite(L298pin2,LOW);
digitalWrite(L298pin3,HIGH);
digitalWrite(L298pin4,LOW);
break;
case TURNRIGHT:
Serial.println(“TURN RIGHT”);//向右
digitalWrite(L298pin1,HIGH);
digitalWrite(L298pin2,LOW);
digitalWrite(L298pin3,LOW);
digitalWrite(L298pin4,LOW);
break;
default:
Serial.println(“STOP”);//停止
digitalWrite(L298pin1,LOW);
digitalWrite(L298pin2,LOW);
digitalWrite(L298pin3,LOW);
digitalWrite(L298pin4,LOW);
}
}void tracing()
{
int data[5];
data[0] = digitalRead(sensor1);//读取四个传感器值
data[1] = digitalRead(sensor2);
data[2] = digitalRead(sensor3);
data[3] = digitalRead(sensor4);

if(data[0] && data[1] && data[2] && data[3]) //左右都没有检测到
{
motorRun(FORWARD,130);
}

if( !data[1]) //右边检测到黑线
{
motorRun(TURNRIGHT,130);
delay(230);
}

if( !data[2]) //左边检测到黑线
{
motorRun(TURNLEFT,130);
delay(230);
}

if( !data[0]) //左边检测到黑线
{ delay(80);
if(!data[3]||(!data[1]&&!data[2]))
{ motorRun(STOP, 0);
delay(300);
loop2();
delay(10000);
}
else{
motorRun(TURNRIGHT,130);
delay(2800);
}
}

Serial.print(data[0]);
Serial.print("—");
Serial.print(data[1]);
Serial.print("—");
Serial.print(data[2]);
Serial.print("—");
Serial.println(data[3]);
}