{"id":2475,"date":"2019-06-14T16:44:07","date_gmt":"2019-06-14T08:44:07","guid":{"rendered":"http:\/\/chou-dan.com\/?p=1210"},"modified":"2026-01-13T10:09:17","modified_gmt":"2026-01-13T02:09:17","slug":"s06_ir_obstacle_avoidance%e9%81%bf%e9%9a%9c%e6%84%9f%e6%b8%ac%e5%99%a8","status":"publish","type":"post","link":"https:\/\/cfnavi.org\/aitech\/s06_ir_obstacle_avoidance%e9%81%bf%e9%9a%9c%e6%84%9f%e6%b8%ac%e5%99%a8\/","title":{"rendered":"S06_IR_Obstacle_Avoidance(\u907f\u969c\u611f\u6e2c\u5668)"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\">\u3010\u8aaa\u660e\u3011<\/h3>\n\n\n\n<p> \u9019\u500b\u611f\u6e2c\u5668\u4f7f\u7528\u7d05\u5916\u7dda(IR)\u7684\u767c\u5c04\u8207\u63a5\u6536\u4f86\u5075\u6e2c\u524d\u65b9\u662f\u5426\u6709\u969c\u7919\u7269\uff0c\u5075\u6e2c\u7684\u8ddd\u96e2\u7d04\u70ba 7CM\uff0c\u7576\u969c\u7919\u7269\u4f4d\u65bc\u5075\u6e2c\u7bc4\u570d\u5167\u6642 OUT=0\u3001\u5728\u7bc4\u570d\u5916\u6642OUT=1\uff0c\u53ef\u61c9\u7528\u65bc\u6a5f\u5668\u4eba\u6216\u6416\u63a7\u8eca\u3002 \u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3010\u96f6\u4ef6\u8868\u3011<\/h3>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>No.<\/strong><\/td><td><strong>\u96f6\u4ef6\u540d\u7a31<\/strong><\/td><td><strong>\u6578\u91cf<\/strong><\/td><\/tr><tr><td><strong>1<\/strong><\/td><td>LCD1602_I2C<\/td><td>1<\/td><\/tr><tr><td><strong>2<\/strong><\/td><td>IR_Obstacle_Avoidance Sensor<\/td><td>1<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u3010\u96f6\u4ef6\u63a5\u8173\u3011<\/h3>\n\n\n\n<p>\u8acb\u53c3\u8003 \u300c<a href=\"https:\/\/cfnavi.org\/aitech\/lcd1602_i2c-%e9%a1%af%e7%a4%ba%e5%99%a8\/\" target=\"_blank\" rel=\"noreferrer noopener sponsored nofollow\">LCD1602_I2C \u986f\u793a\u5668<\/a>\u300d \u63a5\u8173\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>No.<\/strong><\/td><td><strong>\u96f6\u4ef6\u63a5\u8173<\/strong><\/td><td><strong>UNO R3 \u63a5\u8173<\/strong><\/td><\/tr><tr><td>1<\/td><td> G (Ground) <\/td><td> GND <\/td><\/tr><tr><td>2<\/td><td> + (Vcc) <\/td><td> Vcc <\/td><\/tr><tr><td>3<\/td><td> OUT<\/td><td> 3 <\/td><\/tr><tr><td>4<\/td><td>EN<\/td><td>\u672a\u4f7f\u7528<\/td><\/tr><tr><td>5<\/td><td>LED<\/td><td>\u5167\u5efa (D13)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u3010\u6309\u7dda\u5716\u3011<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"1941\" height=\"1203\" src=\"https:\/\/cfnavi.org\/aitech\/wp-content\/uploads\/2019\/06\/s06_ir_obstacle_avoidance.png\" alt=\"\" class=\"wp-image-1211\" srcset=\"https:\/\/cfnavi.org\/aitech\/wp-content\/uploads\/2019\/06\/s06_ir_obstacle_avoidance.png 1941w, https:\/\/cfnavi.org\/aitech\/wp-content\/uploads\/2019\/06\/s06_ir_obstacle_avoidance-300x186.png 300w, https:\/\/cfnavi.org\/aitech\/wp-content\/uploads\/2019\/06\/s06_ir_obstacle_avoidance-1024x635.png 1024w, https:\/\/cfnavi.org\/aitech\/wp-content\/uploads\/2019\/06\/s06_ir_obstacle_avoidance-768x476.png 768w, https:\/\/cfnavi.org\/aitech\/wp-content\/uploads\/2019\/06\/s06_ir_obstacle_avoidance-1536x952.png 1536w\" sizes=\"auto, (max-width: 1941px) 100vw, 1941px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u3010\u7a0b\u5f0f\u78bc\u3011<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>&#91;code]\n\/*\n * \u9019\u500b\u611f\u6e2c\u5668\u4f7f\u7528\u7d05\u5916\u7dda(IR)\u7684\u767c\u5c04\u8207\u63a5\u6536\u4f86\u5075\u6e2c\u524d\u65b9\u662f\u5426\u6709\u969c\u7919\u7269\uff0c\n * \u5075\u6e2c\u7684\u8ddd\u96e2\u7d04\u70ba 7CM\uff0c\u7576\u969c\u7919\u7269\u4f4d\u65bc\u5075\u6e2c\u7bc4\u570d\u5167\u6642 OUT=0\u3001\u5728\u7bc4\u570d\u5916\u6642OUT=1\uff0c\n * \u53ef\u61c9\u7528\u65bc\u6a5f\u5668\u4eba\u6216\u6416\u63a7\u8eca\u3002\u3002\n *\/\n\n\/\/ \u4f7f\u7528 LCD1602 I2C \u986f\u793a\u5668\u986f\u793a\u7d50\u679c\n\/\/ \u5b9a\u7fa9 LCD \u5143\u4ef6(\u4f4d\u7f6e 0x27 \u53ca 16x2 \u7684\u986f\u793a)\n#include &lt;LiquidCrystal_I2C.h&gt;\nLiquidCrystal_I2C lcd(0x27,16,2); \nbyte ledPin = 13;                 \/\/ \u5b9a\u7fa9 LED \u63a5\u8173\nbyte inPin = 3;                   \/\/ \u5b9a\u7fa9\u611f\u6e2c\u5668\u7684\u63a5\u6536\u8173\u4f4d\nbyte val=0;                       \/\/ \u53d6\u5f97\u611f\u6e2c\u5668\u7684\u503c\n\n\/\/ \u7a0b\u5f0f\u521d\u5316\u8a2d\u5b9a\nvoid setup () \n{\n  lcd.begin();                    \/\/ \u958b\u555f LCD \u5143\u4ef6\n  lcd.backlight();                \/\/ \u958b\u555f LCD \u80cc\u5149\n  pinMode(ledPin, OUTPUT);        \/\/ \u8a2d\u5b9a LED \u70ba\u8f38\u51fa\u6a21\u5f0f\n  pinMode(inPin, INPUT) ;         \/\/ \u8a2d\u5b9a\u611f\u6e2c\u5668\u7684\u63a5\u6536\u8173\u4f4d\u70ba\u8f38\u5165\u6a21\u5f0f\n}\n \n\/\/ \u4e3b\u7a0b\u5f0f\u8ff4\u5708\nvoid loop () \n{\n  val = digitalRead(inPin);       \/\/ \u8b80\u53d6\u8072\u97f3\u611f\u6e2c\u5668\u7684\u503c\n  if (val == HIGH) {\n    digitalWrite(ledPin, LOW);    \/\/ \u969c\u7919\u7269\u5728\u7bc4\u570d\u5916 LED=OFF\n    displayValue(LOW);            \/\/ \u5c07\u7d50\u679c\u986f\u793a\u65bc LCD \u7bc4\u570d\u5916 Value=0\n  } else {\n    digitalWrite(ledPin, HIGH);   \/\/ \u969c\u7919\u7269\u5728\u7bc4\u570d\u5916 LED=ON\n    displayValue(HIGH);           \/\/ \u5c07\u7d50\u679c\u986f\u793a\u65bc LCD \u7bc4\u570d\u5916 Value=1\n  }\n  delay(500);                     \/\/ \u66ab\u505c 500 ms\n}\n\n\/\/ \u986f\u793a\u5075\u6e2c\u89f8\u767c\u7684\u503c\nvoid displayValue(byte value) {\n  lcd.setCursor(0, 1);            \/\/ \u8a2d\u5b9a\u6e38\u6a19\u4f4d\u7f6e\n  lcd.print(\"Value: \");\n  lcd.print(value);               \/\/ \u986f\u793a\u5075\u6e2c\u8cc7\u6599\u7684\u503c\n  lcd.print(\"    \");\n}\n&#91;\/code]<\/code><\/pre>\n\n\n\n<div class=\"wp-block-stackable-button-group stk-block-button-group stk-block stk-4f3c7f2\" data-block-id=\"4f3c7f2\"><div class=\"stk-row stk-inner-blocks stk-block-content stk-button-group\">\n<div class=\"wp-block-stackable-button stk-block-button is-style-ghost stk-block stk-8b06352\" data-block-id=\"8b06352\"><style>.stk-8b06352 .stk-button{background:transparent !important;}.stk-8b06352 .stk-button:hover:after{background:transparent !important;opacity:1 !important;}:where(.stk-hover-parent:hover,  .stk-hover-parent.stk--is-hovered) .stk-8b06352 .stk-button:after{background:transparent !important;opacity:1 !important;}.stk-8b06352 .stk-button:before{border-style:solid !important;}<\/style><a class=\"stk-link stk-button stk--hover-effect-darken\" href=\"https:\/\/cfnavi.org\/aitech\/wp-content\/uploads\/2026\/01\/S06_IR_Obstacle_Avoidance.zip\" target=\"_blank\" rel=\"noreferrer noopener\"><span class=\"stk-button__inner-text\">\u4e0b\u8f09\u7a0b\u5f0f\u78bc<\/span><\/a><\/div>\n<\/div><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">&nbsp;\u203b &nbsp;\u5206\u4eab\u7d50\u675f &nbsp;\u203b<\/h3>\n\n\n\n<hr class=\"wp-block-separator has-css-opacity\"\/>\n","protected":false},"excerpt":{"rendered":"<p>\u3010\u8aaa\u660e\u3011 \u9019\u500b\u611f\u6e2c\u5668\u4f7f\u7528\u7d05\u5916\u7dda(IR)\u7684\u767c\u5c04\u8207\u63a5\u6536\u4f86\u5075\u6e2c\u524d\u65b9\u662f\u5426\u6709\u969c\u7919\u7269\uff0c\u5075\u6e2c\u7684\u8ddd\u96e2\u7d04\u70ba 7CM\uff0c\u7576\u969c\u7919\u7269\u4f4d\u65bc [&hellip;]<\/p>\n","protected":false},"author":8,"featured_media":1212,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_bbp_topic_count":0,"_bbp_reply_count":0,"_bbp_total_topic_count":0,"_bbp_total_reply_count":0,"_bbp_voice_count":0,"_bbp_anonymous_reply_count":0,"_bbp_topic_count_hidden":0,"_bbp_reply_count_hidden":0,"_bbp_forum_subforum_count":0,"footnotes":""},"categories":[86],"tags":[94,97,98,99],"class_list":["post-2475","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-arduino","tag-button","tag-lcd","tag-led","tag-sensor"],"blocksy_meta":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.0 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>S06_IR_Obstacle_Avoidance(\u907f\u969c\u611f\u6e2c\u5668) - \u4e58\u8c50\u9818\u822a-\uff21\uff29\u79d1\u6280<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, 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