代码

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#include <IRremote.h> //引入红外遥控函数库

#define STOP  0
#define GO    1
#define RIGHT 2
#define LIFT  3
#define BACK  4
#define SPEED 255

//红外遥控
int RECV_PIN = 2;  // 设定红外接收线的脚位为2
IRrecv irrecv(RECV_PIN);  // 将红外线的脚位设定为2
decode_results results; // 接收到红外线信号值

//马达转动
int    lift1=7; //IN1
int    lift2=8; //IN2
int   right1=4; //IN3
int   right2=3;  //IN4
int liftpwmA = 6;
int rightpwmB = 5;

//超声波
int superout = 9;    //T
int superin = 10;    //E
float cm;//测得的距离

//底盘灯
int LED = 13;

/*****************************************************/
/*****************************************************/

void setup() 
{
  //设置波特率
  Serial.begin(9600); 
  
  //设置超声波
  pinMode(superout, OUTPUT); //设置超声波接口为输出
  pinMode(superin, INPUT);   //设置另一个超声波接口为输入
  
  //设置马达
  pinMode(lift1, OUTPUT);
  pinMode(lift2,OUTPUT);
  pinMode(right1,OUTPUT);
  pinMode(right2,OUTPUT);
  pinMode(liftpwmA ,OUTPUT);
  pinMode(rightpwmB,OUTPUT);

  //设置灯
  pinMode(LED,OUTPUT);
  
  //启用红外接收
  irrecv.enableIRIn();  // 启用红外接收
  Serial.println("开始启动"); // 提示准备完成
}

/*****************************************************/
/*****************************************************/

/*****************************************************/
/*****************************************************/
//自动避障
void automatic()  
{

  

}


//前进
void forward(int Speed){
  Serial.println("向前");
  digitalWrite(lift1 ,LOW);
  digitalWrite(lift2 ,HIGH);
  digitalWrite(right1,LOW);
  digitalWrite(right2,HIGH);
  analogWrite(liftpwmA ,Speed);
  analogWrite(rightpwmB,Speed);
}
//后退
void backwards(int Speed){
  Serial.println("后退");
  digitalWrite(lift1 ,HIGH); 
  digitalWrite(lift2 ,LOW);
  digitalWrite(right1,HIGH);
  digitalWrite(right2,LOW);
  analogWrite(liftpwmA ,Speed);
  analogWrite(rightpwmB,Speed);
}
//左前转
void leftforward (int Speed){
  Serial.println("左转");
  digitalWrite(lift1 ,LOW);
  digitalWrite(lift2 ,HIGH);
  digitalWrite(right1,LOW);
  digitalWrite(right2,HIGH);
  analogWrite(liftpwmA ,Speed);
  analogWrite(rightpwmB,Speed/3);
}
//右前转
void rightforward (int Speed){
  Serial.println("右转");
  digitalWrite(lift1 ,LOW);
  digitalWrite(lift2 ,HIGH);
  digitalWrite(right1,LOW);
  digitalWrite(right2,HIGH);
  analogWrite(liftpwmA ,Speed/3);
  analogWrite(rightpwmB,Speed);
}



//左后转
void leftbackwards (int Speed){
  Serial.println("左后转");
  digitalWrite(lift1 ,HIGH);
  digitalWrite(lift2 ,LOW);
  digitalWrite(right1,HIGH);
  digitalWrite(right2,LOW);
  analogWrite(liftpwmA ,Speed);
  analogWrite(rightpwmB,Speed/3);
}
//右后转
void rightbackwards (int Speed){
  Serial.println("右后转");
  digitalWrite(lift1 ,HIGH);
  digitalWrite(lift2 ,LOW);
  digitalWrite(right1,HIGH);
  digitalWrite(right2,LOW);
  analogWrite(liftpwmA ,Speed/3);
  analogWrite(rightpwmB,Speed);
}


//原地左转
void leftplace (int Speed){
  Serial.println("原地左转");
  digitalWrite(lift1 ,LOW);
  digitalWrite(lift2 ,HIGH);
  digitalWrite(right1,HIGH);
  digitalWrite(right2,LOW);
  analogWrite(liftpwmA ,Speed);
  analogWrite(rightpwmB,Speed);
}
//原地右转
void rightplace (int Speed){
  Serial.println("原地右转");
  digitalWrite(lift1 ,HIGH);
  digitalWrite(lift2 ,LOW);
  digitalWrite(right1,LOW);
  digitalWrite(right2,HIGH);
  analogWrite(liftpwmA ,Speed);
  analogWrite(rightpwmB,Speed);
}

//停
void stationary(int Speed){
  Serial.println("停"); //输出状态
  digitalWrite(lift1 , LOW);
  digitalWrite(lift2 , LOW);
  digitalWrite(right1, LOW);
  digitalWrite(right2, LOW);
  analogWrite(liftpwmA ,Speed);
  analogWrite(rightpwmB,Speed);
}

//超声波读取数据
int distance()
{
    digitalWrite(superout,LOW);
    delayMicroseconds(2);
    digitalWrite(superout,HIGH);
    delayMicroseconds(10);
    digitalWrite(superout,LOW);
    int date=pulseIn(superin,HIGH)/58;
    return date;
}

//开启呼吸灯
void LEDlight()
{
    Serial.println("开启呼吸灯");
    for(int a=0;a<255;a++){             //当a=0并且a小于255时候，a自加
        analogWrite(LED,a);                   //12号引脚为pwm脚，输出亮度    
        delay(5);                                  //延时一段时间
    }
        
    for(int a=255;a>=0;a--){           //当a=255并且a大于0时候，a自减
        analogWrite(LED,a);                  //12号引脚为pwm脚，输出亮度
        delay(5);                                //延时一段时间
    }
}



void loop() 
{
    digitalWrite(13,HIGH);  
    if(irrecv.decode(&results))
    {
/*
      if(results.value == 16738455){  //  避障行驶 0
        Serial.println("开启自动避障模式");      
        one();
        Serial.println("关闭自动避障模式");
      }
*/ 
    if(results.value == 16718055){  //  前进  2
      forward(SPEED);
      delay(600);
      stationary(SPEED);
    }
    if(results.value == 16730805){  //  后退  8
      backwards(SPEED);
      delay(600);
      stationary(SPEED);
    }
    if(results.value == 16724175){  //  左前转  1
      leftforward(SPEED);
      delay(300);
      stationary(SPEED);
    }
    if(results.value == 16743045){  //  右前转  3
      rightforward(SPEED);
      delay(300);
      stationary(SPEED);
    }
    if(results.value == 16728765){  //  左后转  7
      leftbackwards(SPEED);
      delay(300);
      stationary(SPEED);
    }
    if(results.value == 16732845){  //  右后转  9
      rightbackwards(SPEED);
      delay(300);
      stationary(SPEED);
    }
    if(results.value == 16716015){  //  原地左转  4
      leftplace(SPEED);
      delay(300);
      stationary(SPEED);
    }
    if(results.value == 16734885){  //  原地右转  6
      rightplace(SPEED);
      delay(300);
      stationary(SPEED);
    }         
    if(results.value == 16726215){  //  停车  5
      stationary(SPEED);
      delay(600);
    }
    irrecv.resume();
  }    
  if(results.value == 0x16) 
    delay(100); //延时600毫秒，做一个简单的消抖
}

int wave()
{
    digitalWrite(superout,LOW);
    delayMicroseconds(2);
    digitalWrite(superout,HIGH);
    delayMicroseconds(10);
    digitalWrite(superout,LOW);
    int date=pulseIn(superin,HIGH)/58;
    return date;
}

void one(){
        while(1){
          forward(SPEED);  
          cm=distance();    // 让超声波探测正前方的距离
          if(cm <= 40){         //  如果距离小于40cm停止运动
            stationary(SPEED);
            while(cm<=40){
              cm=distance();
              backwards(SPEED);//后退
            }
            delay(300);
            leftplace(SPEED/3);         //左转
            delay(300);
          }
          irrecv.resume();
          delay(300);
          if(results.value == 16726215){
              stationary(SPEED);
              Serial.println("退出·············");
              break;
          }
        }
}

小车

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//LingShun Lab
 
int input1 = 5; // 定义uno的pin 5 向 input1 输出 
int input2 = 6; // 定义uno的pin 6 向 input2 输出
int input3 = 10; // 定义uno的pin 9 向 input3 输出
int input4 = 9; // 定义uno的pin 10 向 input4 输出

int ena = 3;
int enb = 11; 
 
void setup() {
//  Serial.begin (9600);
//初始化各IO,模式为OUTPUT 输出模式
pinMode(input1,OUTPUT);
pinMode(input2,OUTPUT);
pinMode(input3,OUTPUT);
pinMode(input4,OUTPUT);
pinMode(ena,OUTPUT);
pinMode(enb,OUTPUT);
}
 
void loop() {

   //stop 前进
 digitalWrite(input1,HIGH);
 digitalWrite(input2,LOW);  
 digitalWrite(input3,LOW);
 digitalWrite(input4,HIGH);  
 analogWrite(ena,80);
 analogWrite(enb,80);
 delay(1000);  //延时0.5秒

  //stop 停止
 digitalWrite(input1,LOW);
 digitalWrite(input2,LOW);  
 digitalWrite(input3,LOW);
 digitalWrite(input4,LOW);  
 delay(500);  //延时0.5秒

//  //forward 向前转
//  digitalWrite(input1,HIGH); //给高电平
//  digitalWrite(input2,LOW);  //给低电平
//  digitalWrite(input3,HIGH); //给高电平
//  digitalWrite(input4,LOW);  //给低电平
//  delay(1000);   //延时1秒

//   //stop 停止
// digitalWrite(input1,LOW);
// digitalWrite(input2,LOW);  
// digitalWrite(input3,LOW);
// digitalWrite(input4,LOW);  
// delay(500);  //延时0.5秒

 //stop 后退
 digitalWrite(input1,LOW);
 digitalWrite(input2,HIGH);  
 digitalWrite(input3,HIGH);
 digitalWrite(input4,LOW); 
 analogWrite(ena,80);
 analogWrite(enb,80);
 delay(1000);  //延时0.5秒
 
 //stop 停止
 digitalWrite(input1,LOW);
 digitalWrite(input2,LOW);  
 digitalWrite(input3,LOW);
 digitalWrite(input4,LOW);  
 delay(500);  //延时0.5秒
 
//  
//  //back 向后转
//  digitalWrite(input1,LOW);
//  digitalWrite(input2,HIGH);  
//  digitalWrite(input3,LOW);
//  digitalWrite(input4,HIGH);  
//  delay(1000);    
//
//  //stop 停止
// digitalWrite(input1,LOW);
// digitalWrite(input2,LOW);  
// digitalWrite(input3,LOW);
// digitalWrite(input4,LOW);  
// delay(5000);  //延时0.5秒
}