材料清单：
- arduino nano 开发板
- arduino 2560 开发板
- 超大坦克地盘
- BB弹发射装置
- L298n 电机驱动模块
用到的工具：
- 电烙铁
关于这个项目
这个坦克机枪炮可以发射塑料BB弹。带激光瞄准，有大灯。基于 Arduino Nano 平台组装而成。底盘使用小钉锤的坦克底盘，使用L298N电机驱动模块驱动。旋转泡塔，使用了两个舵机上的旋转支架。4节18650电池提供超长续航。无线电模块 APC220 或 NS-12。使用达林顿 ULN2803 组件控制强大的负载。
总视频：
BB弹发射装置演示视频：
电路图：
用两个UART APC220通信
用L298N
舵机通过L7805CV driver驱动
炮塔和瞄准器通过Darlington
INA219 用于电池监测
遥控器通过arduino mega制作
代码：
#include <LiquidCrystal.h> LiquidCrystal lcd(2, 3, 4, 5, 6, 7); byte buttonS = 0; // byte buttonS_OLD = 0; // int connect = 0; int connect_OK = 0; // ? byte go_Old = 14; // byte go_New = 14; // byte adj_Old = 20; // byte adj_New = 20; // byte motor_Send = 14; // byte bounce_b = 50; // const int pinZ = 57; // const int pinX = A1; // X const int pinY = A2; // Y int jvalueX; // X int jvalueY; // Y byte turret = 0; // (1 X+, 2 X-) boolean turret_stop = false; // (1 X+, 2 X-) void setup() { Serial1.begin(9600); //open port APC220 pinMode(57, INPUT); pinMode(36, INPUT_PULLUP); // light - pinMode(37, INPUT_PULLUP); // laser Sight - pinMode(38, INPUT_PULLUP); // gun - pinMode(22 , INPUT_PULLUP); pinMode(23 , INPUT_PULLUP); pinMode(24 , INPUT_PULLUP); pinMode(25 , INPUT_PULLUP); pinMode(26 , INPUT_PULLUP); pinMode(27 , INPUT_PULLUP); pinMode(28 , INPUT_PULLUP); pinMode(29 , INPUT_PULLUP); pinMode(30 , INPUT_PULLUP); pinMode(31 , INPUT_PULLUP); pinMode(32 , INPUT_PULLUP); pinMode(33 , INPUT_PULLUP); pinMode(34 , INPUT_PULLUP); pinMode(35 , INPUT_PULLUP); // lcd.begin(20, 4); lcd.setCursor(8, 0); lcd.print("LSG"); lcd.setCursor(8, 1); lcd.print("000"); lcd.setCursor(8, 2); lcd.print("---"); lcd.setCursor(0, 4); lcd.print("link--"); // lcd.setCursor(0, 0); lcd.print(go_New); lcd.setCursor(0, 1); lcd.print(adj_New); // lcd.setCursor(15, 1); lcd.print("j"); } //---------------------------------------------------| // 2- | //---------------------------------------------------| int Byte2sendFunction(byte BYTE1, byte BYTE2){ int result; // !!! Serial1.setTimeout(2000); // 2 2- byte Byte2send[2] = {0,0}; // byte Byte2receipt[2] = {0,0}; // // Byte2send[0] = BYTE1; Byte2send[1] = BYTE2; // Serial1.write (Byte2send,2); // Serial1.readBytes(Byte2receipt,2); // if ((Byte2send[0] == Byte2receipt[0])&&(Byte2send[1] == Byte2receipt[1])) { // result = 1 0 result = 1; lcd.setCursor(5, 4); lcd.print("Y"); // !!! } else { result = 0; lcd.setCursor(5, 4); lcd.print("N"); // !!! } // return result; } //---------------------------------------------------| void loop() { //---------------------------------------------------| // !!! | //---------------------------------------------------| if (!digitalRead(36)) { // bitWrite(buttonS, 0, !(bitRead(buttonS, 0))); // lcd.setCursor(8, 1); lcd.print(bitRead(buttonS, 0)); } if (!digitalRead(37)) { // bitWrite(buttonS, 1, !(bitRead(buttonS, 1))); // lcd.setCursor(9, 1); lcd.print(bitRead(buttonS, 1)); } // bitWrite(buttonS, 2, !digitalRead(38)); // lcd.setCursor(10, 1); lcd.print(bitRead(buttonS, 2)); //---------------------------------------------------| // | //---------------------------------------------------| if (buttonS!=buttonS_OLD) { connect_OK = Byte2sendFunction(1,buttonS); buttonS_OLD = buttonS; // !!! if (connect_OK == 1) { lcd.setCursor(8, 2); lcd.print(bitRead(buttonS, 0)); lcd.setCursor(9, 2); lcd.print(bitRead(buttonS, 1)); lcd.setCursor(10,2); lcd.print(bitRead(buttonS, 2)); } // !!! if (connect_OK == 0) { lcd.setCursor(8, 2); lcd.print("---"); } } //---------------------------------------------------| // !!! | //---------------------------------------------------| adj_New = 20; if (!digitalRead(32)) { delay(bounce_b); if (!digitalRead(25)) go_New = 14; else adj_New = 32; } if (!digitalRead(25)) { delay(bounce_b); if (!digitalRead(32)) go_New = 14; else adj_New = 25; } if (!digitalRead(31)) { delay(bounce_b); if (!digitalRead(24)) go_New = 15; else adj_New = 31; } if (!digitalRead(24)) { delay(bounce_b); if (!digitalRead(31)) go_New = 15; else adj_New = 24; } if (!digitalRead(30)) { delay(bounce_b); if (!digitalRead(23)) go_New = 16; else adj_New = 30; } if (!digitalRead(23)) { delay(bounce_b); if (!digitalRead(30)) go_New = 16; else adj_New = 23; } if (!digitalRead(29)) { delay(bounce_b); if (!digitalRead(22)) go_New = 17; else adj_New = 29; } if (!digitalRead(22)) { delay(bounce_b); if (!digitalRead(29)) go_New = 17; else adj_New = 22; } if (!digitalRead(33)) { delay(bounce_b); if (!digitalRead(26)) go_New = 13; else adj_New = 33; } if (!digitalRead(26)) { delay(bounce_b); if (!digitalRead(33)) go_New = 13; else adj_New = 26; } if (!digitalRead(34)) { delay(bounce_b); if (!digitalRead(27)) go_New = 12; else adj_New = 34; } if (!digitalRead(27)) { delay(bounce_b); if (!digitalRead(34)) go_New = 12; else adj_New = 27; } if (!digitalRead(35)) { delay(bounce_b); if (!digitalRead(28)) go_New = 11; else adj_New = 35; } if (!digitalRead(28)) { delay(bounce_b); if (!digitalRead(35)) go_New = 11; else adj_New = 28; } if ((go_Old != go_New) || (adj_Old != adj_New)){ // lcd.setCursor(0, 0); lcd.print(go_New); lcd.setCursor(0, 1); lcd.print(adj_New); if (adj_New > 20) { // motor_Send = adj_New; adj_Old = adj_New; } else { // motor_Send = go_New; go_Old = go_New; adj_Old = 20; // } // !!! connect_OK = Byte2sendFunction(2,motor_Send); // !!! if (connect_OK == 1) { lcd.setCursor(0, 2); lcd.print(motor_Send); } // !!! if (connect_OK == 0) { lcd.setCursor(0, 2); lcd.print("--"); } } // //---------------------------------------------------| // !!! | //---------------------------------------------------| // !!! if (digitalRead(pinZ)) { lcd.setCursor(16, 0); lcd.print("Z"); } else { lcd.setCursor(16, 0); lcd.print("z"); } // jvalueX = analogRead(pinX); jvalueY = analogRead(pinY); turret = 0; //0- - //1- - if (jvalueX > 712) bitWrite(turret, 0, 1); if (jvalueX < 312) bitWrite(turret, 1, 1); //4 " " if ((jvalueX > 1013)||(jvalueX < 10)) bitWrite(turret, 4, 1); // lcd.setCursor(16, 1); lcd.print(bitRead(turret,0)); lcd.setCursor(14, 1); lcd.print(bitRead(turret,1)); //2- - //3- - if (jvalueY > 712) bitWrite(turret, 2, 1); if (jvalueY < 312) bitWrite(turret, 3, 1); // Y lcd.setCursor(15, 0); lcd.print(bitRead(turret,2)); lcd.setCursor(15, 1); lcd.print(bitRead(turret,3)); lcd.setCursor(15, 2); lcd.print(" "); lcd.setCursor(15, 2); lcd.print(jvalueX); if (turret !=0) { connect_OK = Byte2sendFunction(3,turret); turret_stop = true; } if ((turret == 0) && (turret_stop)) { connect_OK = Byte2sendFunction(3,0); turret_stop = false; } }
原理图：
更新记录：
创建日期2022.01.12
