Arduino

循迹传感器

/******************************
 * name: IR Tracking Sensor
 * function: draw two black bold lines on the paper.
 * If the rays emitted by sensor encounter thr black lines,
 * the LED attached to pin 13 on the Arduino Uno board will light up;
 * otherwise, it is off.
 ********************************/
 const int trackingPin = 7;
 const int ledPin = 13;

 void setup()
 {
  pinMode(trackingPin, INPUT);
  pinMode(ledPin, OUTPUT);
 }

 void loop()
 {
  boolean val = digitalRead(trackingPin);
  if (val == HIGH)
  {
    digitalWrite(ledPin, LOW); //turn off
  }
  else
  {
    digitalWrite(ledPin, HIGH); //turn on
  }
 }

红外线避障传感器

/******************************
 * name: IR Obstacle Avoidance Sensor
 * function: place a piece of paper in front of the Obstacle Avoidance Sensor,
 * and the led attached tp pin 13 on the the Arduino Uno board will light up.
 ********************************/
 const int avoidPin = 7;
 const int ledPin = 13;

 void setup()
 {
  pinMode(avoidPin, INPUT);
  pinMode(ledPin, OUTPUT);
 }

 void loop()
 {
  boolean val = digitalRead(avoidPin);
  if (val == HIGH)
  {
    digitalWrite(ledPin, LOW); //turn off
  }
  else
  {
    digitalWrite(ledPin, HIGH); //turn on
  }
 }

树莓派

循迹传感器

C

#include <wiringPi.h>
#include <stdio.h>

#define TrackSensorPin  0
#define LedPin          1

int main(void)
{
    if (wiringPiSetup() == -1){
        printf("setup wiringPi failed !");
        return 1;
    }

    pinMode(TrackSensorPin, INPUT);
    pinMode(LedPin, OUTPUT);

    while(1){
        if (digitalRead(TrackSensorPin) == HIGH){
            printf("White line is detected\n");
            digitalWrite(LedPin, LOW); //led on
            delay(100);
            digitalWrite(LedPin, HIGH); //led off
        }
        else{
            printf("..Black line is detected\n");
            delay(100);
        }
    }
    return 0;
}

Python

#!/usr/bin/env python
import RPi.GPIO as GPIO

TrackPin = 11
LedPin = 12

def setup():
    GPIO.setmode(GPIO.BOARD)   # Numbers GPIOs by physical location
    GPIO.setup(LedPin, GPIO.OUT)  
    GPIO.setup(TrackPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
    GPIO.output(LedPin, GPIO.HIGH)

def loop():
    while True:
        if GPIO.input(TrackPin) == GPIO.HIGH:
            print("White line detected")
            GPIO.output(LedPin, GPIO.HIGH) # led on
        else:
            print("...Black line detected")
            GPIO.output(LedPin, GPIO.LOW) # led off

def destroy():
    GPIO.output(LedPin, GPIO.LOW)
    GPIO.cleanup()


if __name__ == "__main__":
    setup()
    try:
        loop()
    except KeyboardInterrupt:
        destroy()

红外线避障传感器

C

#include <wiringPi.h>
#include <stdio.h>
#define ObstaclePin  0

void myISR(void)
{
     printf("Detected Barrier !\n");
}

int main(void)
{
    if (wiringPiSetup() == -1){
       printf("setup wiringPi failed !\n");
       return 1;
    }
    if (wiringPiISR(ObstaclePin, INT_EDGE_FALLING, &myISR) < 0){
        printf("Unable to setup ISR !!!\n");
        return 1;
    }
    while(1){
            if(digitalRead(ObstaclePin) == LOW){
                myISR();
            }
    };
    return 0;
}

Python

#!/usr/bin/env python
import RPi.GPIO as GPIO
ObstaclePin = 11

def setup():
    GPIO.setmode(GPIO.BOARD)
    GPIO.setup(ObstaclePin, GPIO.IN, pull_up_down=GPIO.PUD_UP)

def loop():
    while True:
        if (0 == GPIO.input(ObstaclePin)):
            print("Detected Barrier!")

def destroy():
    GPIO.cleanup()


if __name__ == '__main__':
    setup()
    try:
        loop()
    except KeyboardInterrupt:
        destroy()