{"id":109887,"date":"2026-09-25T05:17:07","date_gmt":"2026-09-24T21:17:07","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/109887.html"},"modified":"2026-09-25T05:17:07","modified_gmt":"2026-09-24T21:17:07","slug":"%e3%80%90%e8%8a%b1%e9%9b%95%e5%ad%a6%e7%bc%96%e7%a8%8b%e3%80%91arduino-bldc-%e4%b9%8b%e6%9c%ba%e5%99%a8%e4%ba%ba%e6%a8%a1%e7%b3%8a%e6%b2%bf%e5%a2%99%e5%b7%a1%e6%a3%80-%e6%b0%94%e4%bd%93%e6%a2%af","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/109887.html","title":{"rendered":"\u3010\u82b1\u96d5\u5b66\u7f16\u7a0b\u3011Arduino BLDC \u4e4b\u673a\u5668\u4eba\u6a21\u7cca\u6cbf\u5899\u5de1\u68c0 + \u6c14\u4f53\u68af\u5ea6\u91c7\u6837\u8c03\u5236"},"content":{"rendered":"

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    \n\u5728\u5b9e\u73b0\u8be5\u7cfb\u7edf\u65f6，\u9700\u91cd\u70b9\u5173\u6ce8\u4ee5\u4e0b\u6280\u672f\u7ec6\u8282\u4e0e\u5de5\u7a0b\u7ea2\u7ebf：<\/p>\n

  • \u6a21\u7cca\u89c4\u5219\u5e93\u7684\u8bbe\u8ba1\u4e0e\u4f18\u5316
    \n\u89c4\u5219\u5b8c\u5907\u6027：\u6a21\u7cca\u89c4\u5219\u5e93\u5fc5\u987b\u8986\u76d6\u6240\u6709\u53ef\u80fd\u7684\u73af\u5883\u72b6\u6001\u7ec4\u5408（\u5982\u201c\u8ddd\u79bb\u592a\u8fd1\u4e14\u6b63\u5728\u5feb\u901f\u63a5\u8fd1\u201d\u3001\u201c\u8ddd\u79bb\u5408\u9002\u4f46\u671d\u5411\u504f\u79bb\u201d\u7b49）\u3002\u89c4\u5219\u7f3a\u5931\u4f1a\u5bfc\u81f4\u7279\u5b9a\u573a\u666f\u4e0b\u65e0\u8f93\u51fa，\u673a\u5668\u4eba\u5931\u63a7\u3002
    \n\u53c2\u6570\u6574\u5b9a：\u521d\u59cb\u89c4\u5219\u901a\u5e38\u57fa\u4e8e\u7ecf\u9a8c\u8bd5\u51d1，\u9700\u901a\u8fc7\u5927\u91cf\u5b9e\u5730\u6d4b\u8bd5\u53cd\u590d\u6574\u5b9a\u3002\u53ef\u91c7\u7528\u9057\u4f20\u7b97\u6cd5（GA）\u79bb\u7ebf\u4f18\u5316\u96b6\u5c5e\u5ea6\u51fd\u6570\u53c2\u6570，\u6216\u901a\u8fc7\u8bd5\u51d1\u6cd5\u8c03\u6574\u89c4\u5219\u6743\u91cd，\u6d88\u9664\u9707\u8361\u3001\u6b7b\u9501\u7b49\u95ee\u9898\u3002
    \n\u5206\u5c42\u67b6\u6784：\u4e3a\u907f\u514d\u89c4\u5219\u7206\u70b8，\u53ef\u91c7\u7528\u5206\u5c42\u6a21\u7cca\u63a7\u5236\u67b6\u6784，\u5c06\u590d\u6742\u89c4\u5219\u5206\u89e3\u4e3a\u591a\u4e2a\u5b50\u63a7\u5236\u5668（\u5982\u6cbf\u5899\u5b50\u63a7\u5236\u5668\u3001\u907f\u969c\u5b50\u63a7\u5236\u5668\u3001\u6c14\u4f53\u8ffd\u8e2a\u5b50\u63a7\u5236\u5668），\u51cf\u5c11\u89c4\u5219\u6570\u91cf，\u9002\u914dArduino\u7684\u5b58\u50a8\u4e0e\u7b97\u529b\u3002<\/li>\n
  • \u6c14\u4f53\u4f20\u611f\u5668\u7684\u9009\u578b\u3001\u6807\u5b9a\u4e0e\u9884\u5904\u7406
    \n\u9884\u70ed\u4e0e\u6807\u5b9a：MQ\u7cfb\u5217\u7b49\u534a\u5bfc\u4f53\u6c14\u4f53\u4f20\u611f\u5668\u901a\u5e38\u9700\u8981\u8f83\u957f\u7684\u9884\u70ed\u65f6\u95f4（\u5982MQ-135\u970024-48\u5c0f\u65f6\u6301\u7eed\u901a\u7535），\u4e14\u9700\u5728\u6d01\u51c0\u7a7a\u6c14\u4e2d\u6821\u51c6\u57fa\u51c6\u7535\u963b（Ro）\u3002\u7535\u5316\u5b66\u4f20\u611f\u5668\u9700\u6ce8\u610f\u5176\u4f7f\u7528\u5bff\u547d（\u901a\u5e381-2\u5e74）\u548c\u4ea4\u53c9\u5e72\u6270\u95ee\u9898\u3002
    \n\u6570\u636e\u6ee4\u6ce2：\u6c14\u4f53\u4f20\u611f\u5668\u6570\u636e\u901a\u5e38\u5e26\u6709\u566a\u58f0，\u5728\u8f93\u5165\u6a21\u7cca\u63a7\u5236\u5668\u6216\u8fdb\u884c\u68af\u5ea6\u8ba1\u7b97\u524d，\u5e94\u8fdb\u884c\u6ed1\u52a8\u5e73\u5747\u3001\u4e2d\u503c\u6ee4\u6ce2\u6216\u5361\u5c14\u66fc\u6ee4\u6ce2\u5904\u7406，\u4ee5\u5254\u9664\u5c16\u5cf0\u5e72\u6270\u3002
    \n\u73af\u5883\u8865\u507f：\u6c14\u4f53\u4f20\u611f\u5668\u8bfb\u6570\u53d7\u6e29\u6e7f\u5ea6\u5f71\u54cd\u8f83\u5927，\u9700\u91c7\u7528\u4e8c\u7ef4\u67e5\u627e\u8868\u6cd5\u6216\u53cc\u53d8\u91cf\u63d2\u503c\u6cd5，\u57fa\u4e8e\u5b9e\u9a8c\u6807\u5b9a\u7684\u6e29\u6e7f-\u6d53\u5ea6\u54cd\u5e94\u8868\u5bf9\u539f\u59cb\u8bfb\u6570\u8fdb\u884c\u52a8\u6001\u4fee\u6b63\u3002<\/li>\n
  • \u786c\u4ef6\u6297\u5e72\u6270\u4e0e\u7535\u6e90\u7ba1\u7406
    \n\u9694\u79bb\u4f9b\u7535：BLDC\u7535\u673a\u5728\u542f\u505c\u548c\u5dee\u901f\u8f6c\u5411\u65f6\u4f1a\u4ea7\u751f\u6781\u5927\u7684\u7535\u6d41\u51b2\u51fb\u548c\u9ad8\u9891\u7535\u78c1\u566a\u58f0，\u6781\u6613\u5bfc\u81f4Arduino\u4e3b\u63a7\u590d\u4f4d\u6216\u6c14\u4f53\u4f20\u611f\u5668\u6570\u636e\u5931\u771f\u3002\u5fc5\u987b\u91c7\u7528\u9694\u79bbDC-DC\u6a21\u5757\u4e3a\u63a7\u5236\u7535\u8def\u72ec\u7acb\u4f9b\u7535，\u5e76\u5728\u7535\u673a\u9a71\u52a8\u7aef\u5e76\u8054\u5927\u5bb9\u91cf\u4f4eESR\u7535\u5bb9\u5438\u6536\u53cd\u7535\u52a8\u52bf\u3002
    \n\u4fe1\u53f7\u5c4f\u853d：\u6c14\u4f53\u4f20\u611f\u5668\u7684\u6a21\u62df\u4fe1\u53f7\u7ebf\u901a\u5e38\u8f83\u5f31\u4e14\u4e3a\u9ad8\u963b\u6297，\u6613\u53d7\u5916\u90e8\u7535\u78c1\u566a\u58f0\u5e72\u6270\u3002\u5e94\u4f7f\u7528\u5c4f\u853d\u7ebf，\u5e76\u8fdc\u79bb\u52a8\u529b\u7ebf\u5e03\u7ebf，PCB\u5e03\u5c40\u65f6\u6ce8\u610fAGND\u4e0eDGND\u5355\u70b9\u8fde\u63a5\u3002
    \nADC\u5206\u8fa8\u7387：\u90e8\u5206\u7535\u5316\u5b66\u6c14\u4f53\u4f20\u611f\u5668\u8f93\u51fa\u4fe1\u53f7\u5fae\u5f31（\u5982mV\u7ea7\u522b），Arduino Uno\u9ed8\u8ba4\u768410\u4f4dADC（5V\u53c2\u8003）\u5206\u8fa8\u7387\u53ef\u80fd\u4e0d\u8db3\u3002\u5efa\u8bae\u914d\u7f6e\u5185\u90e81.1V\u53c2\u8003\u7535\u538b\u4ee5\u63d0\u9ad8\u5206\u8fa8\u7387，\u6216\u9009\u752812\/16\u4f4dADC\u7684\u5916\u90e8\u6a21\u5757\u3002<\/li>\n
  • \u7cfb\u7edf\u5b9e\u65f6\u6027\u4e0e\u5b89\u5168\u5197\u4f59
    \n\u63a7\u5236\u5468\u671f：\u6a21\u7cca\u63a8\u7406\u9700\u8981\u4e00\u5b9a\u7684\u8ba1\u7b97\u65f6\u95f4，\u9700\u4f18\u5316\u4ee3\u7801\u6548\u7387，\u786e\u4fdd\u63a7\u5236\u5468\u671f\u8db3\u591f\u77ed（\u5982<50ms），\u4ee5\u4fdd\u8bc1\u6cbf\u5899\u548c\u907f\u969c\u7684\u5b9e\u65f6\u6027\u3002\u6a21\u7cca\u8ba1\u7b97\u5efa\u8bae\u653e\u5728\u4e3b\u5faa\u73af\u5b9a\u65f6\u8c03\u7528，\u4e0d\u5360\u7528ADC\/PWM\u4e2d\u65ad\u3002
    \n\u5b89\u5168\u9650\u5e45：\u6a21\u7cca\u8f93\u51fa\u5fc5\u987b\u88ab\u7269\u7406\u6781\u9650\u94b3\u4f4d（\u6700\u5927\u901f\u5ea6\u2264BLDC\u989d\u5b9aRPM，\u6700\u5927\u52a0\u901f\u5ea6\u2264\u7535\u673a\/\u7535\u6c60\u627f\u53d7）\u3002\u82e5\u6a21\u7cca\u6a21\u5757\u5f02\u5e38，\u5e94\u5207\u56de\u9ed8\u8ba4PID\u53c2\u6570\u6216\u56fa\u5b9a\u4fdd\u5b88\u901f\u5ea6\u3002
    \n\u5931\u6548\u4fdd\u62a4：\u6025\u505c\u3001\u60ac\u5d16\u68c0\u6d4b\u3001\u8fc7\u6d41\u4fdd\u62a4\u7b49\u5b89\u5168\u673a\u5236\u5e94\u5177\u6709\u6700\u9ad8\u4f18\u5148\u7ea7，\u91c7\u7528\u786c\u4ef6\u6216\u4e2d\u65ad\u7ea7\u5904\u7406，\u53ef\u5f3a\u5207\u7535\u673a\u4f7f\u80fd（EN），\u786e\u4fdd\u5728\u7cfb\u7edf\u5931\u63a7\u65f6\u80fd\u77ac\u95f4\u5207\u65ad\u52a8\u529b\u3002<\/li>\n

    \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
    \n1\u3001\u4e09\u4f20\u611f\u5668\u6a21\u7cca\u6cbf\u5899 + \u6c14\u4f53\u68af\u5ea6\u8c03\u5236\u57fa\u7840\u7248
    \n\u573a\u666f：\u5316\u5de5\u7ba1\u5eca\u5de1\u68c0，\u673a\u5668\u4eba\u901a\u8fc7\u4fa7\u5411\u7ea2\u5916\u6cbf\u5899，\u540c\u65f6\u6839\u636e\u6c14\u4f53\u6d53\u5ea6\u68af\u5ea6\u52a8\u6001\u8c03\u6574\u91c7\u6837\u9891\u7387\u4e0e\u8fd0\u52a8\u901f\u5ea6\u3002<\/p>\n

    \/* ===== \u4e09\u4f20\u611f\u5668\u6a21\u7cca\u6cbf\u5899 + \u6c14\u4f53\u68af\u5ea6\u8c03\u5236 =====
    \n * \u786c\u4ef6：Arduino + SimpleFOC BLDC + \u4fa7\u5411\u7ea2\u5916 + \u6c14\u4f53\u4f20\u611f\u5668
    \n * \u6838\u5fc3：\u6a21\u7cca\u6cbf\u5899\u4fdd\u6301\u7a33\u5b9a\u8ddd\u79bb + \u6c14\u4f53\u68af\u5ea6\u8c03\u5236\u91c7\u6837\u4e0e\u901f\u5ea6
    \n *\/<\/span>
    \n#<\/span>include<\/span> <SimpleFOC.h><\/span><\/span><\/p>\n

    \/\/ — BLDC \u5dee\u901f\u5e95\u76d8 —<\/span>
    \nBLDCMotor motorL<\/span>(<\/span>7<\/span>)<\/span>,<\/span> motorR<\/span>(<\/span>7<\/span>)<\/span>;<\/span>
    \nBLDCDriver3PWM driverL<\/span>(<\/span>9<\/span>,<\/span> 10<\/span>,<\/span> 11<\/span>,<\/span> 8<\/span>)<\/span>;<\/span>
    \nBLDCDriver3PWM driverR<\/span>(<\/span>3<\/span>,<\/span> 5<\/span>,<\/span> 6<\/span>,<\/span> 7<\/span>)<\/span>;<\/span><\/p>\n

    \/\/ — \u6cbf\u5899\u4f20\u611f\u5668（\u5de6\u3001\u4e2d\u3001\u53f3）—<\/span>
    \nconst<\/span> int<\/span> wallSensorPins[<\/span>3<\/span>]<\/span> =<\/span> {<\/span>A0,<\/span> A1,<\/span> A2}<\/span>;<\/span>
    \nconst<\/span> int<\/span> gasSensorPin =<\/span> A3;<\/span><\/p>\n

    \/\/ — \u6c14\u4f53\u91c7\u6837\u8c03\u5236\u53c2\u6570 —<\/span>
    \nfloat<\/span> sampleFreq =<\/span> 100<\/span>;<\/span> \/\/ \u9ed8\u8ba4\u91c7\u6837\u95f4\u9694 ms<\/span>
    \nfloat<\/span> lastSampleTime =<\/span> 0<\/span>;<\/span>
    \nfloat<\/span> gasConc =<\/span> 0<\/span>,<\/span> lastGasConc =<\/span> 0<\/span>,<\/span> gasGradient =<\/span> 0<\/span>;<\/span><\/p>\n

    \/\/ — \u6a21\u7cca\u6cbf\u5899\u63a7\u5236 —<\/span>
    \nfloat<\/span> fuzzyWallControl<\/span>(<\/span>int<\/span> leftDist,<\/span> int<\/span> midDist,<\/span> int<\/span> rightDist)<\/span> {<\/span>
    \n float<\/span> idealDist =<\/span> 300<\/span>;<\/span>
    \n float<\/span> midError =<\/span> (<\/span>float<\/span>)<\/span>(<\/span>midDist –<\/span> idealDist)<\/span> \/<\/span> 100.0<\/span>;<\/span>
    \n float<\/span> angleError =<\/span> (<\/span>float<\/span>)<\/span>(<\/span>rightDist –<\/span> leftDist)<\/span> \/<\/span> 100.0<\/span>;<\/span>
    \n float<\/span> output;<\/span><\/p>\n

    \/\/ \u6a21\u7cca\u89c4\u5219：\u8ddd\u79bb\u592a\u8fd1\/\u592a\u8fdc\/\u9002\u4e2d<\/span>
    \n if<\/span> (<\/span>midError <<\/span> –<\/span>0.5<\/span>)<\/span> {<\/span>
    \n output =<\/span> –<\/span>0.8<\/span> –<\/span> angleError *<\/span> 0.5<\/span>;<\/span> \/\/ \u592a\u8fd1 \u2192 \u5411\u5916\u8f6c<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>midError ><\/span> 0.5<\/span>)<\/span> {<\/span>
    \n output =<\/span> 0.8<\/span> –<\/span> angleError *<\/span> 0.5<\/span>;<\/span> \/\/ \u592a\u8fdc \u2192 \u5411\u5185\u8f6c<\/span>
    \n }<\/span> else<\/span> {<\/span>
    \n output =<\/span> –<\/span>angleError *<\/span> 1.2<\/span>;<\/span> \/\/ \u8ddd\u79bb\u5408\u9002 \u2192 \u89d2\u5ea6\u4fee\u6b63<\/span>
    \n }<\/span>
    \n return<\/span> constrain<\/span>(<\/span>output,<\/span> –<\/span>1.0<\/span>,<\/span> 1.0<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ — \u6c14\u4f53\u68af\u5ea6\u91c7\u6837\u8c03\u5236 —<\/span>
    \nvoid<\/span> gasGradientTrack<\/span>(<\/span>float<\/span> conc,<\/span> float<\/span> &<\/span>vx,<\/span> float<\/span> &<\/span>wz)<\/span> {<\/span>
    \n float<\/span> delta =<\/span> conc –<\/span> lastGasConc;<\/span>
    \n gasGradient =<\/span> delta;<\/span><\/p>\n

    if<\/span> (<\/span>delta ><\/span> 5.0<\/span>)<\/span> {<\/span> \/\/ \u6d53\u5ea6\u4e0a\u5347：\u6162\u901f\u903c\u8fd1 + \u9ad8\u9891\u91c7\u6837<\/span>
    \n vx =<\/span> 0.15<\/span>;<\/span>
    \n sampleFreq =<\/span> 50<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>delta <<\/span> –<\/span>3.0<\/span>)<\/span> {<\/span> \/\/ \u6d53\u5ea6\u4e0b\u964d：\u6062\u590d\u5de1\u822a + \u53cd\u5411\u8ffd\u8e2a<\/span>
    \n vx =<\/span> 0.4<\/span>;<\/span>
    \n sampleFreq =<\/span> 200<\/span>;<\/span>
    \n wz =<\/span> (<\/span>delta ><\/span> 0<\/span>)<\/span> ?<\/span> 0.3<\/span> :<\/span> –<\/span>0.3<\/span>;<\/span>
    \n }<\/span> else<\/span> {<\/span> \/\/ \u5e73\u7a33：\u6b63\u5e38\u5de1\u68c0<\/span>
    \n vx =<\/span> 0.35<\/span>;<\/span>
    \n sampleFreq =<\/span> 150<\/span>;<\/span>
    \n }<\/span>
    \n lastGasConc =<\/span> conc;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n driverL.<\/span>voltage_power_supply =<\/span> 24<\/span>;<\/span> driverL.<\/span>init<\/span>(<\/span>)<\/span>;<\/span>
    \n motorL.<\/span>linkDriver<\/span>(<\/span>&<\/span>driverL)<\/span>;<\/span> motorL.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> motorL.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorL.<\/span>controller =<\/span> MotionControlType::<\/span>velocity;<\/span><\/p>\n

    driverR.<\/span>voltage_power_supply =<\/span> 24<\/span>;<\/span> driverR.<\/span>init<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>linkDriver<\/span>(<\/span>&<\/span>driverR)<\/span>;<\/span> motorR.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> motorR.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>controller =<\/span> MotionControlType::<\/span>velocity;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n motorL.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    \/\/ 1. \u6cbf\u5899\u4f20\u611f\u5668\u4e0e\u6c14\u4f53\u91c7\u96c6<\/span>
    \n int<\/span> leftDist =<\/span> analogRead<\/span>(<\/span>wallSensorPins[<\/span>0<\/span>]<\/span>)<\/span>;<\/span>
    \n int<\/span> midDist =<\/span> analogRead<\/span>(<\/span>wallSensorPins[<\/span>1<\/span>]<\/span>)<\/span>;<\/span>
    \n int<\/span> rightDist =<\/span> analogRead<\/span>(<\/span>wallSensorPins[<\/span>2<\/span>]<\/span>)<\/span>;<\/span>
    \n float<\/span> rawGas =<\/span> analogRead<\/span>(<\/span>gasSensorPin)<\/span>;<\/span><\/p>\n

    \/\/ 2. \u91c7\u6837\u9891\u7387\u52a8\u6001\u8c03\u5236<\/span>
    \n if<\/span> (<\/span>millis<\/span>(<\/span>)<\/span> –<\/span> lastSampleTime ><\/span> sampleFreq)<\/span> {<\/span>
    \n lastSampleTime =<\/span> millis<\/span>(<\/span>)<\/span>;<\/span>
    \n gasConc =<\/span> rawGas;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"Gas:"<\/span>)<\/span>;<\/span> Serial.<\/span>print<\/span>(<\/span>gasConc)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>" Grad:"<\/span>)<\/span>;<\/span> Serial.<\/span>print<\/span>(<\/span>gasGradient)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>" Freq:"<\/span>)<\/span>;<\/span> Serial.<\/span>println<\/span>(<\/span>sampleFreq)<\/span>;<\/span>
    \n }<\/span><\/p>\n

    \/\/ 3. \u6a21\u7cca\u6cbf\u5899\u63a7\u5236<\/span>
    \n float<\/span> fuzzyWallOut =<\/span> fuzzyWallControl<\/span>(<\/span>leftDist,<\/span> midDist,<\/span> rightDist)<\/span>;<\/span><\/p>\n

    \/\/ 4. \u6c14\u4f53\u68af\u5ea6\u8ffd\u8e2a\u8c03\u5236<\/span>
    \n float<\/span> vx =<\/span> 0.35<\/span>,<\/span> wz =<\/span> 0<\/span>;<\/span>
    \n gasGradientTrack<\/span>(<\/span>gasConc,<\/span> vx,<\/span> wz)<\/span>;<\/span><\/p>\n

    \/\/ 5. \u878d\u5408\u63a7\u5236：\u6cbf\u5899 + \u68af\u5ea6\u8f6c\u5411<\/span>
    \n float<\/span> wheelBase =<\/span> 0.3<\/span>;<\/span>
    \n float<\/span> leftSpd =<\/span> vx –<\/span> (<\/span>wz +<\/span> fuzzyWallOut)<\/span> *<\/span> wheelBase \/<\/span> 2<\/span>;<\/span>
    \n float<\/span> rightSpd =<\/span> vx +<\/span> (<\/span>wz +<\/span> fuzzyWallOut)<\/span> *<\/span> wheelBase \/<\/span> 2<\/span>;<\/span><\/p>\n

    motorL.<\/span>move<\/span>(<\/span>leftSpd)<\/span>;<\/span>
    \n motorR.<\/span>move<\/span>(<\/span>rightSpd)<\/span>;<\/span>
    \n delay<\/span>(<\/span>20<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \u6838\u5fc3\u8981\u70b9：\u6a21\u7cca\u6cbf\u5899\u5c06\u8ddd\u79bb\u8bef\u5dee\u548c\u89d2\u5ea6\u8bef\u5dee\u540c\u65f6\u6a21\u7cca\u5316，\u8f93\u51fa\u8fde\u7eed\u8f6c\u5411\u4fee\u6b63，\u907f\u514d\u5f3a\u7535\u78c1\u5e72\u6270\u4e0b\u4f20\u611f\u5668\u566a\u58f0\u5bfc\u81f4\u7684\u9891\u7e41\u542f\u505c\u3002\u91c7\u6837\u9891\u7387\u4e0e\u8fd0\u52a8\u901f\u5ea6\u8054\u52a8\u8c03\u5236\u662f\u5173\u952e\u2014\u2014\u6d53\u5ea6\u4e0a\u5347\u65f6\u4e3b\u52a8\u964d\u901f\u5e76\u52a0\u5bc6\u91c7\u6837，\u9632\u6b62\u9ad8\u901f\u63a0\u8fc7\u6cc4\u6f0f\u70b9\u5bfc\u81f4\u6f0f\u68c0\u3002<\/p>\n

    2\u3001\u5361\u5c14\u66fc\u6ee4\u6ce2\u6297\u5e72\u6270 + \u72b6\u6001\u673a\u591a\u6a21\u5f0f\u5207\u6362
    \n\u573a\u666f：\u5f3a\u7535\u78c1\u73af\u5883\u7ba1\u5eca，\u6c14\u4f53\u4f20\u611f\u5668\u4fe1\u53f7\u53d7\u5e72\u6270\u5267\u70c8，\u901a\u8fc7\u5361\u5c14\u66fc\u6ee4\u6ce2\u5e73\u6ed1\u6570\u636e，\u72b6\u6001\u673a\u6839\u636e\u6c14\u4f53\u6d53\u5ea6\u548c\u6253\u6ed1\u72b6\u6001\u5207\u6362\u5de5\u4f5c\u6a21\u5f0f\u3002<\/p>\n

    \/* ===== \u5361\u5c14\u66fc\u6ee4\u6ce2 + \u72b6\u6001\u673a\u591a\u6a21\u5f0f\u5de1\u68c0 =====
    \n * \u6838\u5fc3：\u6297\u7535\u78c1\u5e72\u6270\u6ee4\u6ce2 + \u6b63\u5e38\/\u7a84\u901a\u9053\/\u6253\u6ed1\/\u6c14\u4f53\u62a5\u8b66\u56db\u6a21\u5f0f
    \n *\/<\/span>
    \n#<\/span>include<\/span> <SimpleFOC.h><\/span><\/span>
    \n#<\/span>include<\/span> <Kalman.h><\/span><\/span><\/p>\n

    BLDCMotor motorL<\/span>(<\/span>7<\/span>)<\/span>,<\/span> motorR<\/span>(<\/span>7<\/span>)<\/span>;<\/span>
    \nBLDCDriver3PWM driverL<\/span>(<\/span>9<\/span>,<\/span> 10<\/span>,<\/span> 11<\/span>,<\/span> 8<\/span>)<\/span>;<\/span>
    \nBLDCDriver3PWM driverR<\/span>(<\/span>3<\/span>,<\/span> 5<\/span>,<\/span> 6<\/span>,<\/span> 7<\/span>)<\/span>;<\/span><\/p>\n

    const<\/span> int<\/span> wallSensorPins[<\/span>3<\/span>]<\/span> =<\/span> {<\/span>A0,<\/span> A1,<\/span> A2}<\/span>;<\/span>
    \nconst<\/span> int<\/span> gasSensorPin =<\/span> A3;<\/span><\/p>\n

    \/\/ \u5361\u5c14\u66fc\u6ee4\u6ce2<\/span>
    \nKalmanFilter kf_gas<\/span>(<\/span>0.01<\/span>,<\/span> 1.0<\/span>,<\/span> 0.001<\/span>)<\/span>;<\/span><\/p>\n

    \/\/ \u72b6\u6001\u6a21\u5f0f<\/span>
    \nenum<\/span> RobotMode<\/span> {<\/span> NORMAL_MODE,<\/span> NARROW_CHANNEL,<\/span> SLIP_DETECTED,<\/span> GAS_ALERT }<\/span>;<\/span>
    \nRobotMode currentMode =<\/span> NORMAL_MODE;<\/span><\/p>\n

    \/\/ \u53c2\u6570<\/span>
    \nconst<\/span> float<\/span> NARROW_DIST =<\/span> 150<\/span>;<\/span>
    \nconst<\/span> float<\/span> SLIP_THRESHOLD =<\/span> 0.3<\/span>;<\/span>
    \nconst<\/span> float<\/span> GAS_ALERT_THRESHOLD =<\/span> 400<\/span>;<\/span><\/p>\n

    \/\/ \u6a21\u7cca\u6cbf\u5899<\/span>
    \nfloat<\/span> fuzzyWallControl<\/span>(<\/span>int<\/span> leftDist,<\/span> int<\/span> midDist,<\/span> int<\/span> rightDist)<\/span> {<\/span>
    \n float<\/span> idealDist =<\/span> 300<\/span>;<\/span>
    \n float<\/span> midError =<\/span> (<\/span>float<\/span>)<\/span>(<\/span>midDist –<\/span> idealDist)<\/span> \/<\/span> 100.0<\/span>;<\/span>
    \n float<\/span> angleError =<\/span> (<\/span>float<\/span>)<\/span>(<\/span>rightDist –<\/span> leftDist)<\/span> \/<\/span> 100.0<\/span>;<\/span>
    \n float<\/span> output;<\/span><\/p>\n

    if<\/span> (<\/span>midError <<\/span> –<\/span>0.5<\/span>)<\/span> output =<\/span> –<\/span>0.8<\/span> –<\/span> angleError *<\/span> 0.5<\/span>;<\/span>
    \n else<\/span> if<\/span> (<\/span>midError ><\/span> 0.5<\/span>)<\/span> output =<\/span> 0.8<\/span> –<\/span> angleError *<\/span> 0.5<\/span>;<\/span>
    \n else<\/span> output =<\/span> –<\/span>angleError *<\/span> 1.2<\/span>;<\/span><\/p>\n

    return<\/span> constrain<\/span>(<\/span>output,<\/span> –<\/span>1.0<\/span>,<\/span> 1.0<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n driverL.<\/span>voltage_power_supply =<\/span> 24<\/span>;<\/span> driverL.<\/span>init<\/span>(<\/span>)<\/span>;<\/span>
    \n motorL.<\/span>linkDriver<\/span>(<\/span>&<\/span>driverL)<\/span>;<\/span> motorL.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> motorL.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorL.<\/span>controller =<\/span> MotionControlType::<\/span>velocity;<\/span><\/p>\n

    driverR.<\/span>voltage_power_supply =<\/span> 24<\/span>;<\/span> driverR.<\/span>init<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>linkDriver<\/span>(<\/span>&<\/span>driverR)<\/span>;<\/span> motorR.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> motorR.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>controller =<\/span> MotionControlType::<\/span>velocity;<\/span><\/p>\n

    kf_gas.<\/span>setAngle<\/span>(<\/span>analogRead<\/span>(<\/span>gasSensorPin)<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n motorL.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    \/\/ 1. \u6570\u636e\u91c7\u96c6\u4e0e\u6ee4\u6ce2<\/span>
    \n int<\/span> leftDist =<\/span> analogRead<\/span>(<\/span>wallSensorPins[<\/span>0<\/span>]<\/span>)<\/span>;<\/span>
    \n int<\/span> midDist =<\/span> analogRead<\/span>(<\/span>wallSensorPins[<\/span>1<\/span>]<\/span>)<\/span>;<\/span>
    \n int<\/span> rightDist =<\/span> analogRead<\/span>(<\/span>wallSensorPins[<\/span>2<\/span>]<\/span>)<\/span>;<\/span>
    \n float<\/span> rawGas =<\/span> analogRead<\/span>(<\/span>gasSensorPin)<\/span>;<\/span>
    \n float<\/span> gasConc =<\/span> kf_gas.<\/span>updateEstimate<\/span>(<\/span>rawGas)<\/span>;<\/span><\/p>\n

    \/\/ 2. \u6a21\u5f0f\u5224\u65ad<\/span>
    \n float<\/span> slipRate =<\/span> 0<\/span>;<\/span> \/\/ \u7b80\u5316：\u5b9e\u9645\u7531\u7f16\u7801\u5668\u4e0eIMU\u5bf9\u6bd4\u5f97\u51fa<\/span>
    \n if<\/span> (<\/span>gasConc >=<\/span> GAS_ALERT_THRESHOLD *<\/span> 0.5<\/span>)<\/span> {<\/span>
    \n currentMode =<\/span> GAS_ALERT;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>slipRate ><\/span> SLIP_THRESHOLD)<\/span> {<\/span>
    \n currentMode =<\/span> SLIP_DETECTED;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>leftDist <<\/span> NARROW_DIST &&<\/span> rightDist <<\/span> NARROW_DIST)<\/span> {<\/span>
    \n currentMode =<\/span> NARROW_CHANNEL;<\/span>
    \n }<\/span> else<\/span> {<\/span>
    \n currentMode =<\/span> NORMAL_MODE;<\/span>
    \n }<\/span><\/p>\n

    \/\/ 3. \u6a21\u5f0f\u63a7\u5236<\/span>
    \n float<\/span> leftSpeed =<\/span> 0<\/span>,<\/span> rightSpeed =<\/span> 0<\/span>;<\/span>
    \n float<\/span> vx =<\/span> 0.35<\/span>,<\/span> wz =<\/span> 0<\/span>;<\/span>
    \n float<\/span> fuzzyWallOut =<\/span> fuzzyWallControl<\/span>(<\/span>leftDist,<\/span> midDist,<\/span> rightDist)<\/span>;<\/span><\/p>\n

    switch<\/span> (<\/span>currentMode)<\/span> {<\/span>
    \n case<\/span> NORMAL_MODE:<\/span>
    \n leftSpeed =<\/span> vx –<\/span> (<\/span>wz +<\/span> fuzzyWallOut)<\/span> *<\/span> 0.15<\/span>;<\/span>
    \n rightSpeed =<\/span> vx +<\/span> (<\/span>wz +<\/span> fuzzyWallOut)<\/span> *<\/span> 0.15<\/span>;<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> NARROW_CHANNEL:<\/span>
    \n \/\/ \u7a84\u901a\u9053：\u51cf\u901f\u5c45\u4e2d<\/span>
    \n float<\/span> centerError =<\/span> leftDist –<\/span> rightDist;<\/span>
    \n leftSpeed =<\/span> 0.2<\/span> +<\/span> centerError *<\/span> 0.05<\/span>;<\/span>
    \n rightSpeed =<\/span> 0.2<\/span> –<\/span> centerError *<\/span> 0.05<\/span>;<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> SLIP_DETECTED:<\/span>
    \n \/\/ \u6253\u6ed1：\u5927\u5e45\u51cf\u901f，\u5411\u5899\u4fa7\u5fae\u8c03<\/span>
    \n leftSpeed =<\/span> 0.15<\/span> *<\/span> (<\/span>leftDist <<\/span> rightDist ?<\/span> 0.5<\/span> :<\/span> 0.7<\/span>)<\/span>;<\/span>
    \n rightSpeed =<\/span> 0.15<\/span> *<\/span> (<\/span>leftDist <<\/span> rightDist ?<\/span> 0.7<\/span> :<\/span> 0.5<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"SLIP DETECTED! Reducing speed."<\/span>)<\/span>;<\/span>
    \n break<\/span>;<\/span><\/p>\n

    case<\/span> GAS_ALERT:<\/span>
    \n \/\/ \u6c14\u4f53\u62a5\u8b66：\u51cf\u901f\u907f\u9669<\/span>
    \n float<\/span> speedScale =<\/span> 0.5<\/span>;<\/span>
    \n leftSpeed =<\/span> 0.3<\/span> *<\/span> speedScale;<\/span>
    \n rightSpeed =<\/span> 0.3<\/span> *<\/span> speedScale;<\/span>
    \n if<\/span> (<\/span>leftDist <<\/span> 200<\/span>)<\/span> {<\/span>
    \n leftSpeed *=<\/span> 0.8<\/span>;<\/span>
    \n rightSpeed *=<\/span> 0.6<\/span>;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span>
    \n }<\/span><\/p>\n

    motorL.<\/span>move<\/span>(<\/span>constrain<\/span>(<\/span>leftSpeed,<\/span> –<\/span>0.5<\/span>,<\/span> 0.5<\/span>)<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>move<\/span>(<\/span>constrain<\/span>(<\/span>rightSpeed,<\/span> –<\/span>0.5<\/span>,<\/span> 0.5<\/span>)<\/span>)<\/span>;<\/span>
    \n delay<\/span>(<\/span>30<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \u6838\u5fc3\u8981\u70b9：\u5361\u5c14\u66fc\u6ee4\u6ce2\u6291\u5236\u5f3a\u7535\u78c1\u5e72\u6270\u5bfc\u81f4\u7684\u6570\u636e\u8df3\u53d8，\u4f7f\u6c14\u4f53\u6d53\u5ea6\u8bfb\u6570\u66f4\u53ef\u9760\u3002\u72b6\u6001\u673a\u5c06\u6a21\u7cca\u63a7\u5236\u4e0e\u591a\u6a21\u5f0f\u67b6\u6784\u7ed3\u5408，\u5728\u72ed\u7a84\u901a\u9053\u51cf\u901f\u5c45\u4e2d\u3001\u6253\u6ed1\u65f6\u5411\u5899\u4fa7\u5fae\u8c03\u6062\u590d\u6293\u5730\u529b\u3001\u6c14\u4f53\u62a5\u8b66\u65f6\u4f18\u5148\u51cf\u901f\u907f\u9669，\u5b9e\u73b0\u5206\u5c42\u51b3\u7b56\u3002<\/p>\n

    3\u3001\u81ea\u9002\u5e94\u9608\u503c\u6c14\u4f53\u8ffd\u8e2a + \u5916\u87ba\u65cb\u6cc4\u6f0f\u6e90\u5b9a\u4f4d
    \n\u573a\u666f：\u4ece\u6cbf\u5899\u5de1\u68c0\u5207\u6362\u5230\u6cc4\u6f0f\u6e90\u641c\u7d22，\u91c7\u7528\u5916\u87ba\u65cb\u8986\u76d6\u641c\u7d22，\u81ea\u9002\u5e94\u9608\u503c\u5224\u65ad\u662f\u5426\u8fdb\u5165\u201c\u6c14\u5473\u7fbd\u6d41\u201d，\u5207\u6362\u4e3a\u6d53\u5ea6\u8d28\u5fc3\u903c\u8fd1\u7b97\u6cd5\u3002<\/p>\n

    \/* ===== \u81ea\u9002\u5e94\u9608\u503c\u8ffd\u8e2a + \u5916\u87ba\u65cb\u6e90\u5b9a\u4f4d =====
    \n * \u6838\u5fc3：\u79fb\u52a8\u5e73\u5747\u81ea\u9002\u5e94\u9608\u503c + \u5916\u87ba\u65cb\u641c\u7d22 + \u6d53\u5ea6\u8d28\u5fc3\u903c\u8fd1
    \n *\/<\/span>
    \n#<\/span>include<\/span> <SimpleFOC.h><\/span><\/span><\/p>\n

    BLDCMotor motorL<\/span>(<\/span>7<\/span>)<\/span>,<\/span> motorR<\/span>(<\/span>7<\/span>)<\/span>;<\/span>
    \nBLDCDriver3PWM driverL<\/span>(<\/span>9<\/span>,<\/span> 10<\/span>,<\/span> 11<\/span>,<\/span> 8<\/span>)<\/span>;<\/span>
    \nBLDCDriver3PWM driverR<\/span>(<\/span>3<\/span>,<\/span> 5<\/span>,<\/span> 6<\/span>,<\/span> 7<\/span>)<\/span>;<\/span><\/p>\n

    const<\/span> int<\/span> gasSensorPin =<\/span> A0;<\/span>
    \nfloat<\/span> currentConc =<\/span> 0<\/span>;<\/span>
    \nfloat<\/span> adaptiveThreshold =<\/span> 0<\/span>;<\/span>
    \nfloat<\/span> concentrationHistory[<\/span>20<\/span>]<\/span>;<\/span>
    \nint<\/span> historyIndex =<\/span> 0<\/span>;<\/span><\/p>\n

    \/\/ \u641c\u7d22\u72b6\u6001<\/span>
    \nenum<\/span> SearchState<\/span> {<\/span> SEARCH_SPIRAL,<\/span> SEARCH_GRADIENT,<\/span> SOURCE_CONFIRMED }<\/span>;<\/span>
    \nSearchState searchState =<\/span> SEARCH_SPIRAL;<\/span><\/p>\n

    \/\/ \u87ba\u65cb\u53c2\u6570<\/span>
    \nfloat<\/span> spiralCenterX =<\/span> 0<\/span>,<\/span> spiralCenterY =<\/span> 0<\/span>;<\/span>
    \nfloat<\/span> robotX =<\/span> 0<\/span>,<\/span> robotY =<\/span> 0<\/span>,<\/span> robotYaw =<\/span> 0<\/span>;<\/span>
    \nfloat<\/span> spiralPitch =<\/span> 0.3<\/span>;<\/span>
    \nfloat<\/span> spiralAngle =<\/span> 0<\/span>,<\/span> spiralRadius =<\/span> 0<\/span>;<\/span>
    \nconst<\/span> float<\/span> thetaP =<\/span> 45<\/span> *<\/span> PI \/<\/span> 180<\/span>;<\/span><\/p>\n

    \/\/ \u6d53\u5ea6\u8d28\u5fc3<\/span>
    \nfloat<\/span> highConcPointsX[<\/span>10<\/span>]<\/span>,<\/span> highConcPointsY[<\/span>10<\/span>]<\/span>;<\/span>
    \nint<\/span> highConcCount =<\/span> 0<\/span>;<\/span>
    \nfloat<\/span> estimatedSourceX =<\/span> 0<\/span>,<\/span> estimatedSourceY =<\/span> 0<\/span>;<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n driverL.<\/span>voltage_power_supply =<\/span> 24<\/span>;<\/span> driverL.<\/span>init<\/span>(<\/span>)<\/span>;<\/span>
    \n motorL.<\/span>linkDriver<\/span>(<\/span>&<\/span>driverL)<\/span>;<\/span> motorL.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> motorL.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorL.<\/span>controller =<\/span> MotionControlType::<\/span>velocity;<\/span><\/p>\n

    driverR.<\/span>voltage_power_supply =<\/span> 24<\/span>;<\/span> driverR.<\/span>init<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>linkDriver<\/span>(<\/span>&<\/span>driverR)<\/span>;<\/span> motorR.<\/span>init<\/span>(<\/span>)<\/span>;<\/span> motorR.<\/span>initFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>controller =<\/span> MotionControlType::<\/span>velocity;<\/span><\/p>\n

    for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 20<\/span>;<\/span> i++<\/span>)<\/span> concentrationHistory[<\/span>i]<\/span> =<\/span> 0<\/span>;<\/span>
    \n}<\/span><\/p>\n

    float<\/span> readGas<\/span>(<\/span>)<\/span> {<\/span>
    \n float<\/span> raw =<\/span> analogRead<\/span>(<\/span>gasSensorPin)<\/span>;<\/span>
    \n static<\/span> float<\/span> filtered =<\/span> raw;<\/span>
    \n filtered =<\/span> filtered *<\/span> 0.8<\/span> +<\/span> raw *<\/span> 0.2<\/span>;<\/span>
    \n return<\/span> filtered;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u81ea\u9002\u5e94\u9608\u503c：\u79fb\u52a8\u5e73\u5747<\/span>
    \nvoid<\/span> updateAdaptiveThreshold<\/span>(<\/span>float<\/span> conc)<\/span> {<\/span>
    \n concentrationHistory[<\/span>historyIndex]<\/span> =<\/span> conc;<\/span>
    \n historyIndex =<\/span> (<\/span>historyIndex +<\/span> 1<\/span>)<\/span> %<\/span> 20<\/span>;<\/span>
    \n float<\/span> sum =<\/span> 0<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> 20<\/span>;<\/span> i++<\/span>)<\/span> sum +=<\/span> concentrationHistory[<\/span>i]<\/span>;<\/span>
    \n float<\/span> movingAvg =<\/span> sum \/<\/span> 20.0<\/span>;<\/span>
    \n adaptiveThreshold =<\/span> 0.9<\/span> *<\/span> adaptiveThreshold +<\/span> 0.1<\/span> *<\/span> movingAvg;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u5916\u87ba\u65cb\u822a\u70b9<\/span>
    \nvoid<\/span> computeSpiralWaypoint<\/span>(<\/span>float<\/span> &<\/span>tx,<\/span> float<\/span> &<\/span>ty)<\/span> {<\/span>
    \n spiralAngle +=<\/span> thetaP;<\/span>
    \n spiralRadius =<\/span> (<\/span>spiralAngle \/<\/span> (<\/span>2<\/span> *<\/span> PI)<\/span>)<\/span> *<\/span> spiralPitch;<\/span>
    \n tx =<\/span> spiralCenterX +<\/span> spiralRadius *<\/span> cos<\/span>(<\/span>spiralAngle)<\/span>;<\/span>
    \n ty =<\/span> spiralCenterY +<\/span> spiralRadius *<\/span> sin<\/span>(<\/span>spiralAngle)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u6d53\u5ea6\u8d28\u5fc3\u4f30\u7b97<\/span>
    \nvoid<\/span> estimateSourcePosition<\/span>(<\/span>)<\/span> {<\/span>
    \n if<\/span> (<\/span>highConcCount ==<\/span> 0<\/span>)<\/span> return<\/span>;<\/span>
    \n float<\/span> sumX =<\/span> 0<\/span>,<\/span> sumY =<\/span> 0<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> highConcCount;<\/span> i++<\/span>)<\/span> {<\/span>
    \n sumX +=<\/span> highConcPointsX[<\/span>i]<\/span>;<\/span>
    \n sumY +=<\/span> highConcPointsY[<\/span>i]<\/span>;<\/span>
    \n }<\/span>
    \n estimatedSourceX =<\/span> sumX \/<\/span> highConcCount;<\/span>
    \n estimatedSourceY =<\/span> sumY \/<\/span> highConcCount;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u5dee\u901f\u8fd0\u52a8\u5230\u76ee\u6807\u70b9<\/span>
    \nvoid<\/span> goToPoint<\/span>(<\/span>float<\/span> tx,<\/span> float<\/span> ty)<\/span> {<\/span>
    \n float<\/span> dx =<\/span> tx –<\/span> robotX,<\/span> dy =<\/span> ty –<\/span> robotY;<\/span>
    \n float<\/span> targetYaw =<\/span> atan2<\/span>(<\/span>dy,<\/span> dx)<\/span>;<\/span>
    \n float<\/span> yawErr =<\/span> targetYaw –<\/span> robotYaw;<\/span>
    \n while<\/span> (<\/span>yawErr ><\/span> PI)<\/span> yawErr -=<\/span> 2<\/span> *<\/span> PI;<\/span>
    \n while<\/span> (<\/span>yawErr <<\/span> –<\/span>PI)<\/span> yawErr +=<\/span> 2<\/span> *<\/span> PI;<\/span><\/p>\n

    float<\/span> dist =<\/span> sqrt<\/span>(<\/span>dx *<\/span> dx +<\/span> dy *<\/span> dy)<\/span>;<\/span>
    \n float<\/span> v =<\/span> constrain<\/span>(<\/span>dist *<\/span> 0.8<\/span>,<\/span> 0.05<\/span>,<\/span> 0.4<\/span>)<\/span>;<\/span>
    \n float<\/span> w =<\/span> constrain<\/span>(<\/span>yawErr *<\/span> 1.5<\/span>,<\/span> –<\/span>1.0<\/span>,<\/span> 1.0<\/span>)<\/span>;<\/span><\/p>\n

    float<\/span> wheelBase =<\/span> 0.3<\/span>,<\/span> wheelR =<\/span> 0.05<\/span>;<\/span>
    \n motorL.<\/span>move<\/span>(<\/span>(<\/span>v –<\/span> w *<\/span> wheelBase \/<\/span> 2.0<\/span>)<\/span> \/<\/span> wheelR)<\/span>;<\/span>
    \n motorR.<\/span>move<\/span>(<\/span>(<\/span>v +<\/span> w *<\/span> wheelBase \/<\/span> 2.0<\/span>)<\/span> \/<\/span> wheelR)<\/span>;<\/span><\/p>\n

    robotX +=<\/span> v *<\/span> cos<\/span>(<\/span>robotYaw)<\/span> *<\/span> 0.05<\/span>;<\/span>
    \n robotY +=<\/span> v *<\/span> sin<\/span>(<\/span>robotYaw)<\/span> *<\/span> 0.05<\/span>;<\/span>
    \n robotYaw +=<\/span> w *<\/span> 0.05<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n motorL.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>loopFOC<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    currentConc =<\/span> readGas<\/span>(<\/span>)<\/span>;<\/span>
    \n updateAdaptiveThreshold<\/span>(<\/span>currentConc)<\/span>;<\/span><\/p>\n

    Serial.<\/span>print<\/span>(<\/span>"State:"<\/span>)<\/span>;<\/span> Serial.<\/span>print<\/span>(<\/span>searchState)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>" Conc:"<\/span>)<\/span>;<\/span> Serial.<\/span>print<\/span>(<\/span>currentConc)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>" Thresh:"<\/span>)<\/span>;<\/span> Serial.<\/span>println<\/span>(<\/span>adaptiveThreshold)<\/span>;<\/span><\/p>\n

    switch<\/span> (<\/span>searchState)<\/span> {<\/span>
    \n case<\/span> SEARCH_SPIRAL:<\/span> {<\/span>
    \n \/\/ \u8fdb\u5165\u7fbd\u6d41\u5224\u636e：\u6d53\u5ea6\u663e\u8457\u9ad8\u4e8e\u81ea\u9002\u5e94\u9608\u503c<\/span>
    \n if<\/span> (<\/span>currentConc ><\/span> adaptiveThreshold *<\/span> 1.5<\/span> &&<\/span> currentConc ><\/span> 100<\/span>)<\/span> {<\/span>
    \n searchState =<\/span> SEARCH_GRADIENT;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>">>> Entered plume"<\/span>)<\/span>;<\/span>
    \n break<\/span>;<\/span>
    \n }<\/span>
    \n float<\/span> tx,<\/span> ty;<\/span>
    \n computeSpiralWaypoint<\/span>(<\/span>tx,<\/span> ty)<\/span>;<\/span>
    \n goToPoint<\/span>(<\/span>tx,<\/span> ty)<\/span>;<\/span><\/p>\n

    if<\/span> (<\/span>spiralRadius ><\/span> 5.0<\/span>)<\/span> {<\/span>
    \n spiralAngle =<\/span> 0<\/span>;<\/span> spiralRadius =<\/span> 0<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>">>> Spiral reset"<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span>
    \n }<\/span><\/p>\n

    case<\/span> SEARCH_GRADIENT:<\/span> {<\/span>
    \n if<\/span> (<\/span>currentConc ><\/span> adaptiveThreshold *<\/span> 1.5<\/span> &&<\/span> highConcCount <<\/span> 10<\/span>)<\/span> {<\/span>
    \n highConcPointsX[<\/span>highConcCount]<\/span> =<\/span> robotX;<\/span>
    \n highConcPointsY[<\/span>highConcCount]<\/span> =<\/span> robotY;<\/span>
    \n highConcCount++<\/span>;<\/span>
    \n }<\/span>
    \n estimateSourcePosition<\/span>(<\/span>)<\/span>;<\/span>
    \n goToPoint<\/span>(<\/span>estimatedSourceX,<\/span> estimatedSourceY)<\/span>;<\/span><\/p>\n

    float<\/span> distToCenter =<\/span> sqrt<\/span>(<\/span>pow<\/span>(<\/span>robotX –<\/span> estimatedSourceX,<\/span> 2<\/span>)<\/span> +<\/span>
    \n pow<\/span>(<\/span>robotY –<\/span> estimatedSourceY,<\/span> 2<\/span>)<\/span>)<\/span>;<\/span>
    \n if<\/span> (<\/span>distToCenter <<\/span> 0.2<\/span> &&<\/span> currentConc ><\/span> 200<\/span>)<\/span> {<\/span>
    \n searchState =<\/span> SOURCE_CONFIRMED;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>">>> SOURCE CONFIRMED!"<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n break<\/span>;<\/span>
    \n }<\/span><\/p>\n

    case<\/span> SOURCE_CONFIRMED:<\/span> {<\/span>
    \n motorL.<\/span>move<\/span>(<\/span>0<\/span>)<\/span>;<\/span>
    \n motorR.<\/span>move<\/span>(<\/span>0<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"SOURCE at ("<\/span>)<\/span>;<\/span> Serial.<\/span>print<\/span>(<\/span>estimatedSourceX)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>", "<\/span>)<\/span>;<\/span> Serial.<\/span>print<\/span>(<\/span>estimatedSourceY)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>") Conc:"<\/span>)<\/span>;<\/span> Serial.<\/span>println<\/span>(<\/span>currentConc)<\/span>;<\/span>
    \n break<\/span>;<\/span>
    \n }<\/span>
    \n }<\/span>
    \n delay<\/span>(<\/span>50<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \u6838\u5fc3\u8981\u70b9：\u81ea\u9002\u5e94\u6d53\u5ea6\u9608\u503c\u7684\u6838\u5fc3\u662f\u2014\u2014\u6cc4\u6f0f\u6e90\u9644\u8fd1\u7684\u201c\u80cc\u666f\u6d53\u5ea6\u201d\u4f1a\u968f\u63a5\u8fd1\u7a0b\u5ea6\u4e0a\u5347，\u56fa\u5b9a\u9608\u503c\u8981\u4e48\u8fc7\u65e9\u89e6\u53d1（\u566a\u58f0\u5bfc\u81f4）\u8981\u4e48\u8fc7\u665a\u89e6\u53d1（\u9519\u8fc7\u7fbd\u6d41）\u3002\u7528\u79fb\u52a8\u5e73\u5747\u52a8\u6001\u66f4\u65b0\u9608\u503c（adaptiveThreshold），\u4f7f\u673a\u5668\u4eba\u9002\u5e94\u73af\u5883\u6d53\u5ea6\u6ce2\u52a8\u3002\u5916\u87ba\u65cb\u641c\u7d22\u89e3\u51b3\u201c\u5df2\u77e5\u5927\u81f4\u533a\u57df\u4f46\u4e0d\u786e\u5b9a\u7cbe\u786e\u4f4d\u7f6e\u201d\u7684\u8986\u76d6\u95ee\u9898，\u6d53\u5ea6\u8d28\u5fc3\u7b97\u6cd5\u5728\u8fdb\u5165\u7fbd\u6d41\u540e\u5b9e\u73b0\u7cbe\u7ec6\u5b9a\u4f4d\u3002<\/p>\n

    \u8981\u70b9\u89e3\u8bfb<\/p>\n

  • \n

    \u6a21\u7cca\u6cbf\u5899\u7684\u4ef7\u503c\u5728\u4e8e\u201c\u8fde\u7eed\u54cd\u5e94\u201d\u800c\u975e\u201c\u9608\u503c\u5207\u6362\u201d
    \n\u4f20\u7edf\u6cbf\u5899\u662f\u201c\u8ddd\u79bb<\u9608\u503c\u2192\u6025\u8f6c\u201d，\u5728\u4e34\u754c\u70b9\u53cd\u590d\u9707\u8361\u3002\u6a21\u7cca\u903b\u8f91\u5c06\u8ddd\u79bb\u548c\u89d2\u5ea6\u8bef\u5dee\u540c\u65f6\u6a21\u7cca\u5316，\u8f93\u51fa\u8fde\u7eed\u8f6c\u5411\u4fee\u6b63\u91cf\u3002\u7814\u7a76\u6570\u636e\u663e\u793a，FLC\u63a7\u5236\u4e0b\u7684\u5e73\u5747\u8bef\u5dee\u4e3a-3.32，\u663e\u8457\u4f18\u4e8ePID\u7684-13.39，\u8fd0\u52a8\u66f4\u7a33\u5b9a\u3002\u7ba1\u5eca\u73af\u5883\u4e2d\u4f20\u611f\u5668\u566a\u58f0\u5927，\u6a21\u7cca\u63a7\u5236\u7684\u5e73\u6ed1\u6027\u6bd4\u7cbe\u786e\u6027\u66f4\u91cd\u8981\u3002<\/p>\n<\/li>\n

  • \n

    \u6c14\u4f53\u91c7\u6837\u8c03\u5236\u5fc5\u987b\u201c\u9891\u7387\u4e0e\u72b6\u6001\u8054\u52a8\u201d，\u800c\u975e\u56fa\u5b9a\u5468\u671f
    \n\u56fa\u5b9a\u91c7\u6837\u5468\u671f\u5728\u6b63\u5e38\u5de1\u68c0\u65f6\u6d6a\u8d39\u529f\u8017，\u6cc4\u6f0f\u53d1\u751f\u65f6\u53c8\u53ef\u80fd\u9519\u8fc7\u6d53\u5ea6\u5cf0\u503c\u3002\u7a0b\u5e8f\u6848\u4f8b\u4e00\u91c7\u7528\u68af\u5ea6\u8c03\u5236（\u6d53\u5ea6\u4e0a\u5347\u2192\u52a0\u5bc6\u91c7\u6837），\u7a0b\u5e8f\u6848\u4f8b\u4e8c\u91c7\u7528\u9608\u503c\u89e6\u53d1\u3002\u4e24\u8005\u5171\u540c\u903b\u8f91：\u8ba9\u91c7\u6837\u7387\u8ddf\u968f\u201c\u4fe1\u606f\u4ef7\u503c\u201d\u53d8\u5316\u2014\u2014\u6d53\u5ea6\u5e73\u7a33\u65f6\u4fe1\u606f\u91cf\u4f4e，\u6d53\u5ea6\u5267\u53d8\u65f6\u4fe1\u606f\u91cf\u9ad8\u3002<\/p>\n<\/li>\n

  • \n

    \u5361\u5c14\u66fc\u6ee4\u6ce2\u662f\u5f3a\u7535\u78c1\u73af\u5883\u4e0b\u6c14\u4f53\u91c7\u6837\u7684\u201c\u751f\u5b58\u5e95\u7ebf\u201d
    \n\u7ba1\u5eca\u5185\u53d8\u9891\u5668\u3001\u7ee7\u7535\u5668\u4ea7\u751f\u7684\u5bbd\u9891\u8c31\u7535\u78c1\u566a\u58f0\u4f1a\u5bfc\u81f4\u6c14\u4f53\u4f20\u611f\u5668\u6570\u636e\u5267\u70c8\u8df3\u53d8\u3002\u7a0b\u5e8f\u6848\u4f8b\u4e8c\u4f7f\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u5bf9\u6d53\u5ea6\u4fe1\u53f7\u505a\u72b6\u6001\u4f30\u8ba1，\u7528\u201c\u8fc7\u7a0b\u6a21\u578b+\u6d4b\u91cf\u66f4\u65b0\u201d\u6291\u5236\u77ac\u65f6\u566a\u58f0\u3002\u5bf9\u4e8eArduino\u7b97\u529b，\u7b80\u5316\u7684\u4e00\u7ef4\u5361\u5c14\u66fc\u5373\u53ef\u6ee1\u8db3\u9700\u6c42\u3002<\/p>\n<\/li>\n

  • \n

    \u81ea\u9002\u5e94\u9608\u503c\u89e3\u51b3\u201c\u6cc4\u6f0f\u6e90\u9644\u8fd1\u80cc\u666f\u6d53\u5ea6\u4e0a\u5347\u201d\u7684\u5b9a\u4f4d\u96be\u9898
    \n\u56fa\u5b9a\u6d53\u5ea6\u9608\u503c\u5728\u63a5\u8fd1\u6cc4\u6f0f\u6e90\u65f6\u4f1a\u201c\u5931\u6548\u201d\u2014\u2014\u56e0\u4e3a\u80cc\u666f\u6d53\u5ea6\u672c\u8eab\u5c31\u5728\u4e0a\u5347\u3002\u7a0b\u5e8f\u6848\u4f8b\u4e09\u7528\u79fb\u52a8\u5e73\u5747\u52a8\u6001\u66f4\u65b0\u9608\u503c，\u6d53\u5ea6\u8d85\u8fc7\u52a8\u6001\u57fa\u7ebf\u4e00\u5b9a\u6bd4\u4f8b（1.5\u500d）\u624d\u8ba4\u4e3a\u201c\u8fdb\u5165\u771f\u6b63\u7684\u7fbd\u6d41\u201d，\u5426\u5219\u7ee7\u7eed\u8986\u76d6\u641c\u7d22，\u9632\u6b62\u88ab\u5c40\u90e8\u566a\u58f0\u8bef\u5bfc\u3002<\/p>\n<\/li>\n

  • \n

    BLDC+FOC\u7684\u529b\u77e9\u5e73\u6ed1\u6027\u5bf9\u201c\u6162\u901f\u91c7\u6837\u7a33\u5b9a\u6027\u201d\u6709\u9690\u6027\u8d21\u732e
    \n\u5de1\u68c0\u673a\u5668\u4eba\u5728\u6162\u901f\u903c\u8fd1\u6cc4\u6f0f\u6e90\u65f6\u9700\u9891\u7e41\u5fae\u8c03\u901f\u5ea6\u548c\u65b9\u5411\u3002\u6709\u5237\u7535\u673a\u7684\u6362\u76f8\u987f\u632b\u4f1a\u5bfc\u81f4\u8f66\u8eab\u6296\u52a8，\u4f7f\u6c14\u4f53\u4f20\u611f\u5668\u91c7\u6837\u4f4d\u7f6e\u548c\u59ff\u6001\u4e0d\u7a33\u5b9a，\u6d53\u5ea6\u8bfb\u6570\u6ce2\u52a8\u52a0\u5267\u3002SimpleFOC\u7684\u6b63\u5f26\u9a71\u52a8\u4f7f\u4f4e\u901f\u8fd0\u884c\u8f6c\u77e9\u8109\u52a8\u5927\u5e45\u964d\u4f4e，\u673a\u5668\u4eba\u5728\u201c\u6162\u901f\u722c\u884c\u91c7\u6837\u201d\u65f6\u8f66\u8eab\u66f4\u5e73\u7a33，\u4f20\u611f\u5668\u8bfb\u6570\u4e00\u81f4\u6027\u66f4\u597d\u3002<\/p>\n<\/li>\n

    \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
    \n4\u3001\u6a21\u7cca\u6cbf\u5899\u5de1\u68c0+\u57fa\u7840\u6c14\u4f53\u68af\u5ea6\u91c7\u6837\u7a0b\u5e8f（\u6838\u5fc3：\u6cbf\u5899\u7a33\u5b9a\u884c\u9a76\u4e0e\u6c14\u4f53\u6d53\u5ea6\u91c7\u96c6）
    \n\u9002\u7528\u573a\u666f：\u5de5\u4e1a\u7ba1\u9053\u3001\u50a8\u7f50\u5916\u56f4\u7b49\u89c4\u5219\u5899\u4f53\u573a\u666f，\u673a\u5668\u4eba\u6cbf\u5899\u884c\u9a76\u5b8c\u6210\u5de1\u68c0，\u540c\u6b65\u91c7\u96c6\u6c14\u4f53\u6d53\u5ea6，\u5b9e\u73b0\u57fa\u7840\u6cc4\u9732\u6392\u67e5\u3002<\/p>\n

    \u6838\u5fc3\u903b\u8f91
    \n\u91c7\u7528\u6a21\u7cca\u63a7\u5236\u7b97\u6cd5，\u878d\u5408\u591a\u4fa7\u7ea2\u5916\u6d4b\u8ddd\u6570\u636e，\u5b9e\u73b0\u5e73\u6ed1\u6cbf\u5899\u884c\u9a76
    \n\u7ed3\u5408\u5de1\u68c0\u8def\u5f84\u5207\u6362\u91c7\u6837\u70b9\u4f4d，\u91c7\u96c6\u6cbf\u9014\u6c14\u4f53\u6d53\u5ea6\u5e76\u4fdd\u5b58
    \n\u5f53\u68c0\u6d4b\u5230\u6c14\u4f53\u6d53\u5ea6\u5f02\u5e38\u65f6，\u4e3b\u52a8\u8d34\u8fd1\u5899\u4f53\u6392\u67e5\u6cc4\u9732\u6e90<\/p>\n

    \/\/ \u6a21\u7cca\u6cbf\u5899\u5de1\u68c0+\u57fa\u7840\u6c14\u4f53\u68af\u5ea6\u91c7\u6837\u7a0b\u5e8f<\/span>
    \n\/\/ \u786c\u4ef6：4\u8def\u7ea2\u5916\u6d4b\u8ddd\u3001MQ\u7cfb\u5217\u6c14\u4f53\u4f20\u611f\u5668\u3001BLDC\u5dee\u901f\u9a71\u52a8<\/span>
    \n\/\/ \u529f\u80fd：\u89c4\u5219\u5899\u4f53\u6cbf\u5899\u884c\u9a76，\u540c\u6b65\u91c7\u96c6\u6c14\u4f53\u6d53\u5ea6，\u57fa\u7840\u6cc4\u9732\u68c0\u6d4b<\/span><\/p>\n

    #<\/span>include<\/span> <Arduino.h><\/span><\/span><\/p>\n

    \/\/ ========== \u786c\u4ef6\u5f15\u811a\u5b9a\u4e49 ==========<\/span>
    \nconst<\/span> byte IR_LEFT =<\/span> A0,<\/span> IR_RIGHT =<\/span> A1;<\/span> \/\/ \u5de6\u53f3\u6cbf\u5899\u7ea2\u5916\u4f20\u611f\u5668<\/span>
    \nconst<\/span> byte MQ_PIN =<\/span> A2;<\/span> \/\/ \u6c14\u4f53\u4f20\u611f\u5668\u8f93\u51fa\u5f15\u811a<\/span>
    \nconst<\/span> byte PWM_L =<\/span> 6<\/span>,<\/span> DIR_L =<\/span> 7<\/span>,<\/span> PWM_R =<\/span> 8<\/span>,<\/span> DIR_R =<\/span> 9<\/span>;<\/span>\/\/ BLDC\u9a71\u52a8<\/span><\/p>\n

    \/\/ ========== \u6a21\u7cca\u6cbf\u5899\u53c2\u6570 ==========<\/span>
    \nconst<\/span> float<\/span> WALL_DIST =<\/span> 20.0<\/span>;<\/span> \/\/ \u76ee\u6807\u6cbf\u5899\u8ddd\u79bb（cm）<\/span>
    \nfloat<\/span> speed_left =<\/span> 180<\/span>,<\/span> speed_right =<\/span> 180<\/span>;<\/span> \/\/ \u521d\u59cb\u7535\u673a\u901f\u5ea6（0-255）<\/span>
    \nint<\/span> fuzzy_output =<\/span> 0<\/span>;<\/span> \/\/ \u6a21\u7cca\u63a7\u5236\u8f93\u51fa<\/span><\/p>\n

    \/\/ \u6a21\u7cca\u63a7\u5236\u96b6\u5c5e\u5ea6\u51fd\u6570\u53c2\u6570<\/span>
    \nconst<\/span> int<\/span> DIST_MIN =<\/span> 10<\/span>,<\/span> DIST_MAX =<\/span> 50<\/span>;<\/span> \/\/ \u8ddd\u79bb\u8f93\u5165\u8303\u56f4<\/span>
    \nconst<\/span> int<\/span> LOW_NP=<\/span>0<\/span>,<\/span> MIDL_NP=<\/span>1<\/span>,<\/span> HIGH_NP=<\/span>2<\/span>,<\/span> MAX_NP=<\/span>3<\/span>;<\/span> \/\/ \u8ddd\u79bb\u96b6\u5c5e\u5ea6\u7b49\u7ea7<\/span>
    \nfloat<\/span> membership[<\/span>4<\/span>]<\/span>;<\/span> \/\/ \u5de6\u53f3\u8ddd\u79bb\u96b6\u5c5e\u5ea6<\/span>
    \nfloat<\/span> speed_adj_L=<\/span>0<\/span>,<\/span> speed_adj_R=<\/span>0<\/span>;<\/span> \/\/ \u901f\u5ea6\u8c03\u6574\u91cf<\/span><\/p>\n

    \/\/ ========== \u6c14\u4f53\u91c7\u6837\u53c2\u6570 ==========<\/span>
    \nfloat<\/span> gas_concentration =<\/span> 0.0<\/span>;<\/span> \/\/ \u5f53\u524d\u6c14\u4f53\u6d53\u5ea6<\/span>
    \nfloat<\/span> baseline_gas =<\/span> 0.0<\/span>;<\/span> \/\/ \u57fa\u51c6\u6d53\u5ea6<\/span>
    \nconst<\/span> uint16_t<\/span> SAMPLE_INTERVAL =<\/span> 2000<\/span>;<\/span> \/\/ \u91c7\u6837\u95f4\u9694（ms）<\/span>
    \nconst<\/span> float<\/span> GAS_ALARM =<\/span> 100.0<\/span>;<\/span> \/\/ \u6d53\u5ea6\u544a\u8b66\u9608\u503c（\u5b9e\u9645\u9700\u6807\u5b9a）<\/span>
    \nbool<\/span> gas_alarm =<\/span> false<\/span>;<\/span><\/p>\n

    unsigned<\/span> long<\/span> lastSampleTime =<\/span> 0<\/span>;<\/span>
    \nconst<\/span> byte ROBOT_MODE =<\/span> 0<\/span>;<\/span> \/\/ 0=\u6cbf\u5899\u5de1\u68c0\u6a21\u5f0f<\/span><\/p>\n

    \/\/ ========== \u51fd\u6570\u58f0\u660e ==========<\/span>
    \nvoid<\/span> fuzzyWallFollowing<\/span>(<\/span>)<\/span>;<\/span>
    \nfloat<\/span> getIRDistance<\/span>(<\/span>byte pin)<\/span>;<\/span>
    \nfloat<\/span> readGasSensor<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> sampleGas<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> driveMotor<\/span>(<\/span>float<\/span> left,<\/span> float<\/span> right)<\/span>;<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"\u6a21\u7cca\u6cbf\u5899+\u6c14\u4f53\u91c7\u6837\u7cfb\u7edf\u521d\u59cb\u5316\u5b8c\u6210"<\/span>)<\/span>;<\/span><\/p>\n

    pinMode<\/span>(<\/span>IR_LEFT,<\/span> INPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>IR_RIGHT,<\/span> INPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>MQ_PIN,<\/span> INPUT)<\/span>;<\/span><\/p>\n

    pinMode<\/span>(<\/span>PWM_L,<\/span> OUTPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>DIR_L,<\/span> OUTPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>PWM_R,<\/span> OUTPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>DIR_R,<\/span> OUTPUT)<\/span>;<\/span><\/p>\n

    baseline_gas =<\/span> readGasSensor<\/span>(<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"\u6c14\u4f53\u57fa\u51c6\u6d53\u5ea6："<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>baseline_gas)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n fuzzyWallFollowing<\/span>(<\/span>)<\/span>;<\/span> \/\/ 1. \u6a21\u7cca\u6cbf\u5899\u63a7\u5236<\/span>
    \n sampleGas<\/span>(<\/span>)<\/span>;<\/span> \/\/ 2. \u6c14\u4f53\u91c7\u6837<\/span>
    \n delay<\/span>(<\/span>10<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u83b7\u53d6\u7ea2\u5916\u4f20\u611f\u5668\u8ddd\u79bb（cm）<\/span>
    \nfloat<\/span> getIRDistance<\/span>(<\/span>byte pin)<\/span> {<\/span>
    \n int<\/span> val =<\/span> analogRead<\/span>(<\/span>pin)<\/span>;<\/span>
    \n return<\/span> val *<\/span> 0.08f<\/span>;<\/span> \/\/ \u6309\u5b9e\u9645\u4f20\u611f\u5668\u6821\u51c6\u7cfb\u6570\u8c03\u6574<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u6a21\u7cca\u6cbf\u5899\u63a7\u5236\u6838\u5fc3<\/span>
    \nvoid<\/span> fuzzyWallFollowing<\/span>(<\/span>)<\/span> {<\/span>
    \n float<\/span> dist_L =<\/span> getIRDistance<\/span>(<\/span>IR_LEFT)<\/span>;<\/span>
    \n float<\/span> dist_R =<\/span> getIRDistance<\/span>(<\/span>IR_RIGHT)<\/span>;<\/span><\/p>\n

    \/\/ 1. \u96b6\u5c5e\u5ea6\u8ba1\u7b97：\u5c06\u8ddd\u79bb\u6620\u5c04\u4e3a\u4f4e\u538b\u3001\u4e2d\u538b\u3001\u9ad8\u538b\u3001\u8d85\u9ad8\u538b<\/span>
    \n \/\/ \u8ddd\u79bb\u8d8a\u8fd1，\u96b6\u5c5e\u5ea6\u8d8a\u9ad8<\/span>
    \n membership[<\/span>LOW_NP]<\/span> =<\/span> (<\/span>dist_L <<\/span> DIST_MIN)<\/span> ?<\/span> 1.0f<\/span> :<\/span> (<\/span>dist_L <<\/span> DIST_MAX)<\/span> ?<\/span> (<\/span>DIST_MAX–<\/span>dist_L)<\/span>\/<\/span>(<\/span>DIST_MAX–<\/span>DIST_MIN)<\/span> :<\/span> 0.0f<\/span>;<\/span>
    \n membership[<\/span>MIDL_NP]<\/span> =<\/span> (<\/span>dist_L >=<\/span> DIST_MIN &&<\/span> dist_L <=<\/span> DIST_MAX)<\/span> ?<\/span>
    \n (<\/span>(<\/span>dist_L <<\/span> (<\/span>DIST_MIN+<\/span>20<\/span>)<\/span>)<\/span> ?<\/span> (<\/span>dist_L–<\/span>DIST_MIN)<\/span>\/<\/span>20.0f<\/span> :<\/span> (<\/span>DIST_MAX–<\/span>dist_L)<\/span>\/<\/span>30.0f<\/span>)<\/span> :<\/span> 0.0f<\/span>;<\/span>
    \n membership[<\/span>HIGH_NP]<\/span> =<\/span> (<\/span>dist_L >=<\/span> DIST_MAX–<\/span>20<\/span> &&<\/span> dist_L <=<\/span> DIST_MAX)<\/span> ?<\/span>
    \n (<\/span>dist_L–<\/span>(<\/span>DIST_MAX–<\/span>20<\/span>)<\/span>)<\/span>\/<\/span>20.0f<\/span> :<\/span> 0.0f<\/span>;<\/span>
    \n membership[<\/span>MAX_NP]<\/span> =<\/span> (<\/span>dist_L ><\/span> DIST_MAX)<\/span> ?<\/span> 1.0f<\/span> :<\/span> 0.0f<\/span>;<\/span><\/p>\n

    \/\/ \u5bf9\u53f3\u4fa7\u8ddd\u79bb\u6267\u884c\u76f8\u540c\u96b6\u5c5e\u5ea6\u8ba1\u7b97（\u7b80\u5316，\u590d\u5236\u903b\u8f91\u5373\u53ef）<\/span>
    \n float<\/span> memR[<\/span>4<\/span>]<\/span>;<\/span>
    \n memR[<\/span>LOW_NP]<\/span> =<\/span> (<\/span>dist_R <<\/span> DIST_MIN)<\/span> ?<\/span> 1.0f<\/span> :<\/span> (<\/span>dist_R <<\/span> DIST_MAX)<\/span> ?<\/span> (<\/span>DIST_MAX–<\/span>dist_R)<\/span>\/<\/span>(<\/span>DIST_MAX–<\/span>DIST_MIN)<\/span> :<\/span> 0.0f<\/span>;<\/span>
    \n memR[<\/span>MIDL_NP]<\/span> =<\/span> (<\/span>dist_R >=<\/span> DIST_MIN &&<\/span> dist_R <=<\/span> DIST_MAX)<\/span> ?<\/span>
    \n (<\/span>(<\/span>dist_R <<\/span> (<\/span>DIST_MIN+<\/span>20<\/span>)<\/span>)<\/span> ?<\/span> (<\/span>dist_R–<\/span>DIST_MIN)<\/span>\/<\/span>20.0f<\/span> :<\/span> (<\/span>DIST_MAX–<\/span>dist_R)<\/span>\/<\/span>30.0f<\/span>)<\/span> :<\/span> 0.0f<\/span>;<\/span>
    \n memR[<\/span>HIGH_NP]<\/span> =<\/span> (<\/span>dist_R >=<\/span> DIST_MAX–<\/span>20<\/span> &&<\/span> dist_R <=<\/span> DIST_MAX)<\/span> ?<\/span>
    \n (<\/span>dist_R–<\/span>(<\/span>DIST_MAX–<\/span>20<\/span>)<\/span>)<\/span>\/<\/span>20.0f<\/span> :<\/span> 0.0f<\/span>;<\/span>
    \n memR[<\/span>MAX_NP]<\/span> =<\/span> (<\/span>dist_R ><\/span> DIST_MAX)<\/span> ?<\/span> 1.0f<\/span> :<\/span> 0.0f<\/span>;<\/span><\/p>\n

    \/\/ 2. \u6a21\u7cca\u89c4\u5219\u63a8\u7406：\u6839\u636e\u5de6\u53f3\u8ddd\u79bb\u96b6\u5c5e\u5ea6\u8c03\u6574\u901f\u5ea6<\/span>
    \n \/\/ \u8ddd\u79bb\u8d8a\u8fd1，\u51cf\u901f；\u8ddd\u79bb\u8d8a\u8fdc，\u52a0\u901f<\/span>
    \n if<\/span> (<\/span>dist_L <<\/span> WALL_DIST &&<\/span> dist_R ><\/span> WALL_DIST)<\/span> {<\/span>
    \n \/\/ \u5de6\u4fa7\u8fc7\u8fd1，\u53f3\u4fa7\u8fc7\u8fdc：\u5de6\u4fa7\u51cf\u901f，\u53f3\u4fa7\u52a0\u901f，\u9760\u8fd1\u5899\u4f53<\/span>
    \n speed_adj_L =<\/span> map<\/span>(<\/span>dist_L,<\/span> DIST_MIN,<\/span> WALL_DIST,<\/span> –<\/span>30<\/span>,<\/span> 0<\/span>)<\/span>;<\/span>
    \n speed_adj_R =<\/span> map<\/span>(<\/span>dist_R,<\/span> WALL_DIST,<\/span> DIST_MAX,<\/span> 0<\/span>,<\/span> 20<\/span>)<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>dist_R <<\/span> WALL_DIST &&<\/span> dist_L ><\/span> WALL_DIST)<\/span> {<\/span>
    \n \/\/ \u53f3\u4fa7\u8fc7\u8fd1，\u5de6\u4fa7\u8fc7\u8fdc：\u53f3\u4fa7\u51cf\u901f，\u5de6\u4fa7\u52a0\u901f<\/span>
    \n speed_adj_R =<\/span> map<\/span>(<\/span>dist_R,<\/span> DIST_MIN,<\/span> WALL_DIST,<\/span> –<\/span>30<\/span>,<\/span> 0<\/span>)<\/span>;<\/span>
    \n speed_adj_L =<\/span> map<\/span>(<\/span>dist_L,<\/span> WALL_DIST,<\/span> DIST_MAX,<\/span> 0<\/span>,<\/span> 20<\/span>)<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>dist_L <<\/span> DIST_MIN ||<\/span> dist_R <<\/span> DIST_MIN)<\/span> {<\/span>
    \n \/\/ \u4e24\u4fa7\u8fc7\u8fd1：\u53cc\u5411\u51cf\u901f，\u907f\u514d\u649e\u5899<\/span>
    \n speed_adj_L =<\/span> –<\/span>20<\/span>;<\/span>
    \n speed_adj_R =<\/span> –<\/span>20<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>dist_L ><\/span> DIST_MAX ||<\/span> dist_R ><\/span> DIST_MAX)<\/span> {<\/span>
    \n \/\/ \u4e24\u4fa7\u8fc7\u8fdc：\u53cc\u5411\u52a0\u901f，\u9760\u8fd1\u5899\u4f53<\/span>
    \n speed_adj_L =<\/span> 15<\/span>;<\/span>
    \n speed_adj_R =<\/span> 15<\/span>;<\/span>
    \n }<\/span> else<\/span> {<\/span>
    \n \/\/ \u8ddd\u79bb\u9002\u4e2d：\u4fdd\u6301\u901f\u5ea6<\/span>
    \n speed_adj_L =<\/span> 0<\/span>;<\/span>
    \n speed_adj_R =<\/span> 0<\/span>;<\/span>
    \n }<\/span><\/p>\n

    \/\/ 3. \u901f\u5ea6\u8f93\u51fa：\u8c03\u6574\u57fa\u7840\u901f\u5ea6，\u9650\u5e45<\/span>
    \n speed_left =<\/span> constrain<\/span>(<\/span>speed_left +<\/span> speed_adj_L *<\/span> 0.1f<\/span>,<\/span> 80<\/span>,<\/span> 220<\/span>)<\/span>;<\/span>
    \n speed_right =<\/span> constrain<\/span>(<\/span>speed_right +<\/span> speed_adj_R *<\/span> 0.1f<\/span>,<\/span> 80<\/span>,<\/span> 220<\/span>)<\/span>;<\/span><\/p>\n

    driveMotor<\/span>(<\/span>speed_left,<\/span> speed_right)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u6c14\u4f53\u91c7\u6837：\u5b9a\u671f\u91c7\u96c6\u6d53\u5ea6，\u5f02\u5e38\u544a\u8b66<\/span>
    \nvoid<\/span> sampleGas<\/span>(<\/span>)<\/span> {<\/span>
    \n uint32_t<\/span> now =<\/span> millis<\/span>(<\/span>)<\/span>;<\/span>
    \n if<\/span> (<\/span>now –<\/span> lastSampleTime ><\/span> SAMPLE_INTERVAL)<\/span> {<\/span>
    \n gas_concentration =<\/span> readGasSensor<\/span>(<\/span>)<\/span>;<\/span>
    \n lastSampleTime =<\/span> now;<\/span><\/p>\n

    Serial.<\/span>print<\/span>(<\/span>"\u91c7\u6837\u6d53\u5ea6："<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>gas_concentration)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"，\u57fa\u51c6\u6d53\u5ea6："<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>baseline_gas)<\/span>;<\/span><\/p>\n

    \/\/ \u6d53\u5ea6\u5f02\u5e38\u68c0\u6d4b<\/span>
    \n if<\/span> (<\/span>gas_concentration ><\/span> baseline_gas +<\/span> GAS_ALARM)<\/span> {<\/span>
    \n gas_alarm =<\/span> true<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"\u8b66\u544a：\u6c14\u4f53\u6d53\u5ea6\u5f02\u5e38，\u7591\u4f3c\u6cc4\u9732"<\/span>)<\/span>;<\/span>
    \n }<\/span> else<\/span> {<\/span>
    \n gas_alarm =<\/span> false<\/span>;<\/span>
    \n }<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u8bfb\u53d6\u6c14\u4f53\u4f20\u611f\u5668<\/span>
    \nfloat<\/span> readGasSensor<\/span>(<\/span>)<\/span> {<\/span>
    \n int<\/span> val =<\/span> analogRead<\/span>(<\/span>MQ_PIN)<\/span>;<\/span>
    \n return<\/span> val *<\/span> 0.1f<\/span>;<\/span> \/\/ \u6309\u4f20\u611f\u5668\u6821\u51c6\u7cfb\u6570\u8c03\u6574<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u7535\u673a\u9a71\u52a8\u51fd\u6570<\/span>
    \nvoid<\/span> driveMotor<\/span>(<\/span>float<\/span> left,<\/span> float<\/span> right)<\/span> {<\/span>
    \n int<\/span> l =<\/span> constrain<\/span>(<\/span>(<\/span>int<\/span>)<\/span>left,<\/span> 0<\/span>,<\/span> 255<\/span>)<\/span>;<\/span>
    \n int<\/span> r =<\/span> constrain<\/span>(<\/span>(<\/span>int<\/span>)<\/span>right,<\/span> 0<\/span>,<\/span> 255<\/span>)<\/span>;<\/span>
    \n digitalWrite<\/span>(<\/span>DIR_L,<\/span> HIGH)<\/span>;<\/span> analogWrite<\/span>(<\/span>PWM_L,<\/span> l)<\/span>;<\/span>
    \n digitalWrite<\/span>(<\/span>DIR_R,<\/span> HIGH)<\/span>;<\/span> analogWrite<\/span>(<\/span>PWM_R,<\/span> r)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \u9002\u7528\u573a\u666f\u4f18\u5316
    \n\u53ef\u589e\u52a0\u5899\u4f53\u7c7b\u578b\u8bc6\u522b，\u9002\u914d\u6df7\u51dd\u571f\u5899\u3001\u91d1\u5c5e\u56f4\u680f\u7b49\u4e0d\u540c\u6750\u8d28，\u8c03\u6574\u7ea2\u5916\u9608\u503c
    \n\u4f18\u5316\u6a21\u7cca\u89c4\u5219\u5e93，\u8986\u76d6\u5899\u89d2\u3001\u8f6c\u89d2\u7b49\u7279\u6b8a\u573a\u666f，\u63d0\u5347\u6cbf\u5899\u7a33\u5b9a\u6027
    \n\u6269\u5c55\u91c7\u6837\u70b9\u4f4d，\u5728\u8f6c\u89d2\u3001\u9600\u95e8\u7b49\u5173\u952e\u4f4d\u7f6e\u52a0\u5bc6\u91c7\u6837，\u63d0\u5347\u6cc4\u9732\u6392\u67e5\u7cbe\u5ea6<\/p>\n

    5\u3001\u6a21\u7cca\u6cbf\u5899\u5de1\u68c0+\u6c14\u4f53\u68af\u5ea6\u91c7\u6837\u8c03\u5236\u7a0b\u5e8f（\u6838\u5fc3：\u6d53\u5ea6\u68af\u5ea6\u5206\u6790\u4e0e\u52a8\u6001\u91c7\u6837）
    \n\u9002\u7528\u573a\u666f：\u5316\u5de5\u8f66\u95f4\u3001\u5bc6\u95ed\u50a8\u7f50\u533a\u7b49\u573a\u666f，\u673a\u5668\u4eba\u6cbf\u5899\u5de1\u68c0\u65f6，\u6839\u636e\u6c14\u4f53\u6d53\u5ea6\u68af\u5ea6\u53d8\u5316\u8c03\u6574\u91c7\u6837\u9891\u7387\u4e0e\u884c\u9a76\u901f\u5ea6，\u7cbe\u51c6\u5b9a\u4f4d\u6cc4\u9732\u6e90\u3002<\/p>\n

    \u6838\u5fc3\u903b\u8f91
    \n\u6cbf\u5899\u884c\u9a76\u8fc7\u7a0b\u4e2d，\u5b9e\u65f6\u8ba1\u7b97\u6c14\u4f53\u6d53\u5ea6\u68af\u5ea6
    \n\u4f9d\u636e\u68af\u5ea6\u5927\u5c0f\u52a8\u6001\u8c03\u8282\u91c7\u6837\u9891\u7387\u4e0e\u673a\u5668\u4eba\u79fb\u52a8\u901f\u5ea6
    \n\u68af\u5ea6\u589e\u5927\u65f6\u964d\u4f4e\u901f\u5ea6\u3001\u63d0\u5347\u91c7\u6837\u9891\u7387，\u5b9e\u73b0\u6cc4\u9732\u6e90\u7cbe\u51c6\u5b9a\u4f4d<\/p>\n

    \/\/ \u6a21\u7cca\u6cbf\u5899\u5de1\u68c0+\u6c14\u4f53\u68af\u5ea6\u91c7\u6837\u8c03\u5236\u7a0b\u5e8f<\/span>
    \n\/\/ \u786c\u4ef6：\u7ea2\u5916\u3001MQ\u6c14\u4f53\u4f20\u611f\u5668\u3001BLDC\u3001\u6e29\u6e7f\u5ea6\u4f20\u611f\u5668（\u53ef\u9009，\u7528\u4e8e\u4fee\u6b63）<\/span>
    \n\/\/ \u529f\u80fd：\u6cbf\u5899\u884c\u9a76，\u57fa\u4e8e\u6c14\u4f53\u68af\u5ea6\u8c03\u6574\u91c7\u6837\u7b56\u7565，\u7cbe\u51c6\u5b9a\u4f4d\u6cc4\u9732\u6e90<\/span><\/p>\n

    #<\/span>include<\/span> <Arduino.h><\/span><\/span><\/p>\n

    \/\/ ========== \u786c\u4ef6\u5b9a\u4e49 ==========<\/span>
    \nconst<\/span> byte IR_LEFT =<\/span> A0,<\/span> IR_RIGHT =<\/span> A1,<\/span> MQ_PIN =<\/span> A2;<\/span>
    \nconst<\/span> byte PWM_L =<\/span> 6<\/span>,<\/span> DIR_L =<\/span> 7<\/span>,<\/span> PWM_R =<\/span> 8<\/span>,<\/span> DIR_R =<\/span> 9<\/span>;<\/span><\/p>\n

    \/\/ ========== \u6cbf\u5899\u4e0e\u91c7\u6837\u53c2\u6570 ==========<\/span>
    \nconst<\/span> float<\/span> WALL_DIST =<\/span> 22.0<\/span>;<\/span>
    \nint<\/span> base_speed =<\/span> 170<\/span>;<\/span>
    \nfloat<\/span> last_gas [<\/span>3<\/span>]<\/span> =<\/span> {<\/span>0.0<\/span>}<\/span>;<\/span> \/\/ \u5386\u53f2\u6d53\u5ea6，\u7528\u4e8e\u8ba1\u7b97\u68af\u5ea6<\/span>
    \nfloat<\/span> gas_gradient =<\/span> 0.0<\/span>;<\/span> \/\/ \u6c14\u4f53\u6d53\u5ea6\u68af\u5ea6（\u5355\u4f4d\u8ddd\u79bb\u6d53\u5ea6\u53d8\u5316\u91cf）<\/span>
    \nfloat<\/span> last_pos_x =<\/span> 0.0<\/span>;<\/span> \/\/ \u673a\u5668\u4eba\u6a2a\u5411\u4f4d\u7f6e（\u7528\u4e8e\u8ba1\u7b97\u79fb\u52a8\u8ddd\u79bb）<\/span>
    \nuint16_t<\/span> sample_interval =<\/span> 2000<\/span>;<\/span> \/\/ \u52a8\u6001\u91c7\u6837\u95f4\u9694（ms）<\/span>
    \nconst<\/span> uint16_t<\/span> MIN_INTERVAL =<\/span> 500<\/span>;<\/span> \/\/ \u6700\u5c0f\u91c7\u6837\u95f4\u9694<\/span>
    \nconst<\/span> uint16_t<\/span> MAX_INTERVAL =<\/span> 3000<\/span>;<\/span>\/\/ \u6700\u5927\u91c7\u6837\u95f4\u9694<\/span>
    \nconst<\/span> float<\/span> GRADIENT_ALARM =<\/span> 1.5<\/span>;<\/span> \/\/ \u68af\u5ea6\u544a\u8b66\u9608\u503c<\/span><\/p>\n

    bool<\/span> locate_source =<\/span> false<\/span>;<\/span> \/\/ \u662f\u5426\u8fdb\u5165\u6cc4\u9732\u5b9a\u4f4d\u6a21\u5f0f<\/span>
    \nunsigned<\/span> long<\/span> scanTimer =<\/span> 0<\/span>;<\/span><\/p>\n

    \/\/ ========== \u51fd\u6570\u58f0\u660e ==========<\/span>
    \nvoid<\/span> adaptiveSampling<\/span>(<\/span>)<\/span>;<\/span>
    \nfloat<\/span> calculateGradient<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> adjustSpeedByGradient<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> fuzzyWallControl<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> driveMotor<\/span>(<\/span>int<\/span> left,<\/span> int<\/span> right)<\/span>;<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"\u68af\u5ea6\u8c03\u5236\u6cbf\u5899\u5de1\u68c0\u7cfb\u7edf\u521d\u59cb\u5316\u5b8c\u6210"<\/span>)<\/span>;<\/span><\/p>\n

    pinMode<\/span>(<\/span>IR_LEFT,<\/span> INPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>IR_RIGHT,<\/span> INPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>MQ_PIN,<\/span> INPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>PWM_L,<\/span> OUTPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>DIR_L,<\/span> OUTPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>PWM_R,<\/span> OUTPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>DIR_R,<\/span> OUTPUT)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n fuzzyWallControl<\/span>(<\/span>)<\/span>;<\/span> \/\/ 1. \u6a21\u7cca\u6cbf\u5899\u63a7\u5236<\/span>
    \n adaptiveSampling<\/span>(<\/span>)<\/span>;<\/span> \/\/ 2. \u68af\u5ea6\u8c03\u5236\u91c7\u6837<\/span>
    \n adjustSpeedByGradient<\/span>(<\/span>)<\/span>;<\/span> \/\/ 3. \u68af\u5ea6\u9a71\u52a8\u901f\u5ea6\u8c03\u6574<\/span>
    \n delay<\/span>(<\/span>10<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u6a21\u7cca\u6cbf\u5899\u63a7\u5236（\u7b80\u5316\u903b\u8f91，\u53ef\u590d\u7528\u6848\u4f8b1，\u6b64\u5904\u7cbe\u7b80）<\/span>
    \nvoid<\/span> fuzzyWallControl<\/span>(<\/span>)<\/span> {<\/span>
    \n float<\/span> dist_L =<\/span> analogRead<\/span>(<\/span>IR_LEFT)<\/span> *<\/span> 0.08f<\/span>;<\/span>
    \n float<\/span> dist_R =<\/span> analogRead<\/span>(<\/span>IR_RIGHT)<\/span> *<\/span> 0.08f<\/span>;<\/span><\/p>\n

    int<\/span> adj_L =<\/span> 0<\/span>,<\/span> adj_R =<\/span> 0<\/span>;<\/span>
    \n if<\/span> (<\/span>dist_L <<\/span> WALL_DIST &&<\/span> dist_R ><\/span> WALL_DIST)<\/span> {<\/span>
    \n adj_L =<\/span> map<\/span>(<\/span>(<\/span>int<\/span>)<\/span>dist_L,<\/span> 10<\/span>,<\/span> (<\/span>int<\/span>)<\/span>WALL_DIST,<\/span> –<\/span>2<\/span>,<\/span> 0<\/span>)<\/span>;<\/span>
    \n adj_R =<\/span> map<\/span>(<\/span>(<\/span>int<\/span>)<\/span>dist_R,<\/span> (<\/span>int<\/span>)<\/span>WALL_DIST,<\/span> 40<\/span>,<\/span> 0<\/span>,<\/span> 2<\/span>)<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>dist_R <<\/span> WALL_DIST &&<\/span> dist_L ><\/span> WALL_DIST)<\/span> {<\/span>
    \n adj_R =<\/span> map<\/span>(<\/span>(<\/span>int<\/span>)<\/span>dist_R,<\/span> 10<\/span>,<\/span> (<\/span>int<\/span>)<\/span>WALL_DIST,<\/span> –<\/span>2<\/span>,<\/span> 0<\/span>)<\/span>;<\/span>
    \n adj_L =<\/span> map<\/span>(<\/span>(<\/span>int<\/span>)<\/span>dist_L,<\/span> (<\/span>int<\/span>)<\/span>WALL_DIST,<\/span> 40<\/span>,<\/span> 0<\/span>,<\/span> 2<\/span>)<\/span>;<\/span>
    \n }<\/span><\/p>\n

    base_speed =<\/span> constrain<\/span>(<\/span>base_speed +<\/span> adj_L +<\/span> adj_R,<\/span> 100<\/span>,<\/span> 220<\/span>)<\/span>;<\/span>
    \n driveMotor<\/span>(<\/span>base_speed,<\/span> base_speed)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u8ba1\u7b97\u6c14\u4f53\u68af\u5ea6：\u5355\u4f4d\u8ddd\u79bb\u7684\u6d53\u5ea6\u53d8\u5316<\/span>
    \nfloat<\/span> calculateGradient<\/span>(<\/span>)<\/span> {<\/span>
    \n uint32_t<\/span> now =<\/span> millis<\/span>(<\/span>)<\/span>;<\/span>
    \n if<\/span> (<\/span>now –<\/span> scanTimer ><\/span> 500<\/span>)<\/span> {<\/span> \/\/ \u5feb\u901f\u91c7\u6837\u8ba1\u7b97\u68af\u5ea6<\/span>
    \n float<\/span> current_gas =<\/span> analogRead<\/span>(<\/span>MQ_PIN)<\/span> *<\/span> 0.1f<\/span>;<\/span>
    \n float<\/span> last_gas =<\/span> last_gas[<\/span>2<\/span>]<\/span>;<\/span>
    \n \/\/ \u4f30\u7b97\u79fb\u52a8\u8ddd\u79bb（\u7b80\u5316，\u53ef\u7ed3\u5408\u7f16\u7801\u5668）<\/span>
    \n float<\/span> distance_moved =<\/span> 5.0<\/span>;<\/span> \/\/ \u5355\u4f4d：cm<\/span>
    \n if<\/span> (<\/span>distance_moved ><\/span> 0.1<\/span>)<\/span> {<\/span>
    \n gas_gradient =<\/span> (<\/span>current_gas –<\/span> last_gas)<\/span> \/<\/span> distance_moved;<\/span>
    \n }<\/span> else<\/span> {<\/span>
    \n gas_gradient =<\/span> 0.0<\/span>;<\/span>
    \n }<\/span>
    \n \/\/ \u6ed1\u52a8\u7a97\u53e3\u66f4\u65b0\u5386\u53f2\u6d53\u5ea6<\/span>
    \n last_gas[<\/span>0<\/span>]<\/span> =<\/span> last_gas[<\/span>1<\/span>]<\/span>;<\/span>
    \n last_gas[<\/span>1<\/span>]<\/span> =<\/span> last_gas[<\/span>2<\/span>]<\/span>;<\/span>
    \n last_gas[<\/span>2<\/span>]<\/span> =<\/span> current_gas;<\/span>
    \n scanTimer =<\/span> now;<\/span>
    \n }<\/span>
    \n return<\/span> gas_gradient;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u8c03\u5236\u91c7\u6837\u7b56\u7565：\u68af\u5ea6\u8d8a\u5927，\u91c7\u6837\u8d8a\u9891\u7e41<\/span>
    \nvoid<\/span> adaptiveSampling<\/span>(<\/span>)<\/span> {<\/span>
    \n gas_gradient =<\/span> calculateGradient<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    \/\/ \u6839\u636e\u68af\u5ea6\u52a8\u6001\u8c03\u6574\u91c7\u6837\u95f4\u9694<\/span>
    \n if<\/span> (<\/span>gas_gradient ><\/span> GRADIENT_ALARM)<\/span> {<\/span>
    \n \/\/ \u68af\u5ea6\u9ad8，\u52a0\u5bc6\u91c7\u6837<\/span>
    \n sample_interval =<\/span> constrain<\/span>(<\/span>sample_interval –<\/span> 200<\/span>,<\/span> MIN_INTERVAL,<\/span> MAX_INTERVAL)<\/span>;<\/span>
    \n locate_source =<\/span> true<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>abs<\/span>(<\/span>gas_gradient)<\/span> <<\/span> 0.3<\/span>)<\/span> {<\/span>
    \n \/\/ \u68af\u5ea6\u4f4e，\u964d\u4f4e\u91c7\u6837\u9891\u7387<\/span>
    \n sample_interval =<\/span> constrain<\/span>(<\/span>sample_interval +<\/span> 100<\/span>,<\/span> MIN_INTERVAL,<\/span> MAX_INTERVAL)<\/span>;<\/span>
    \n locate_source =<\/span> false<\/span>;<\/span>
    \n }<\/span><\/p>\n

    \/\/ \u6267\u884c\u91c7\u6837<\/span>
    \n unsigned<\/span> long<\/span> now =<\/span> millis<\/span>(<\/span>)<\/span>;<\/span>
    \n if<\/span> (<\/span>now %<\/span> sample_interval <<\/span> 20<\/span>)<\/span> {<\/span> \/\/ \u6309\u52a8\u6001\u95f4\u9694\u91c7\u6837<\/span>
    \n float<\/span> current_gas =<\/span> analogRead<\/span>(<\/span>MQ_PIN)<\/span> *<\/span> 0.1f<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"\u52a8\u6001\u91c7\u6837\u6d53\u5ea6："<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>current_gas)<\/span>;<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"，\u68af\u5ea6："<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>gas_gradient)<\/span>;<\/span><\/p>\n

    if<\/span> (<\/span>gas_gradient ><\/span> GRADIENT_ALARM)<\/span> {<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"\u8fdb\u5165\u6cc4\u9732\u5b9a\u4f4d\u6a21\u5f0f，\u903c\u8fd1\u6392\u67e5"<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u4f9d\u636e\u68af\u5ea6\u8c03\u6574\u884c\u9a76\u901f\u5ea6：\u68af\u5ea6\u8d8a\u9ad8，\u901f\u5ea6\u8d8a\u4f4e<\/span>
    \nvoid<\/span> adjustSpeedByGradient<\/span>(<\/span>)<\/span> {<\/span>
    \n if<\/span> (<\/span>abs<\/span>(<\/span>gas_gradient)<\/span> ><\/span> GRADIENT_ALARM)<\/span> {<\/span>
    \n \/\/ \u68af\u5ea6\u5927，\u51cf\u901f\u903c\u8fd1<\/span>
    \n int<\/span> slow_speed =<\/span> map<\/span>(<\/span>(<\/span>int<\/span>)<\/span>(<\/span>gas_gradient *<\/span> 100<\/span>)<\/span>,<\/span> 0<\/span>,<\/span> 300<\/span>,<\/span> base_speed,<\/span> 80<\/span>)<\/span>;<\/span>
    \n driveMotor<\/span>(<\/span>slow_speed,<\/span> slow_speed)<\/span>;<\/span>
    \n }<\/span> else<\/span> if<\/span> (<\/span>abs<\/span>(<\/span>gas_gradient)<\/span> ><\/span> 0.5<\/span> &&<\/span> !<\/span>locate_source)<\/span> {<\/span>
    \n \/\/ \u68af\u5ea6\u9002\u4e2d，\u5c0f\u5e45\u51cf\u901f<\/span>
    \n int<\/span> mid_speed =<\/span> base_speed –<\/span> 30<\/span>;<\/span>
    \n driveMotor<\/span>(<\/span>mid_speed,<\/span> mid_speed)<\/span>;<\/span>
    \n }<\/span>
    \n \/\/ \u68af\u5ea6\u4f4e，\u4fdd\u6301\u57fa\u7840\u901f\u5ea6（\u7531\u6cbf\u5899\u63a7\u5236\u4e3b\u5bfc）<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u7535\u673a\u9a71\u52a8<\/span>
    \nvoid<\/span> driveMotor<\/span>(<\/span>int<\/span> left,<\/span> int<\/span> right)<\/span> {<\/span>
    \n left =<\/span> constrain<\/span>(<\/span>left,<\/span> 0<\/span>,<\/span> 255<\/span>)<\/span>;<\/span>
    \n right =<\/span> constrain<\/span>(<\/span>right,<\/span> 0<\/span>,<\/span> 255<\/span>)<\/span>;<\/span>
    \n digitalWrite<\/span>(<\/span>DIR_L,<\/span> HIGH)<\/span>;<\/span> analogWrite<\/span>(<\/span>PWM_L,<\/span> left)<\/span>;<\/span>
    \n digitalWrite<\/span>(<\/span>DIR_R,<\/span> HIGH)<\/span>;<\/span> analogWrite<\/span>(<\/span>PWM_R,<\/span> right)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \u9002\u7528\u573a\u666f\u4f18\u5316
    \n\u5f15\u5165\u591a\u6c14\u4f53\u4f20\u611f\u5668，\u68c0\u6d4b\u591a\u79cd\u6709\u5bb3\u6c14\u4f53，\u62d3\u5bbd\u5de1\u68c0\u8303\u56f4
    \n\u7ed3\u5408\u98ce\u901f\u98ce\u5411\u6570\u636e\u4fee\u6b63\u68af\u5ea6\u5224\u65ad，\u51cf\u5c11\u73af\u5883\u5e72\u6270，\u63d0\u5347\u5b9a\u4f4d\u7cbe\u5ea6
    \n\u589e\u52a0\u6cc4\u9732\u6e90\u8bc6\u522b\u7b97\u6cd5，\u901a\u8fc7\u9ad8\u6d53\u5ea6\u70b9\u805a\u96c6\u5224\u65ad\u771f\u5b9e\u6cc4\u9732\u4f4d\u7f6e<\/p>\n

    6\u3001\u6a21\u7cca\u6cbf\u5899\u5de1\u68c0+\u6c14\u4f53\u68af\u5ea6\u91c7\u6837+\u5f02\u5e38\u5b89\u5168\u4fdd\u62a4\u7a0b\u5e8f（\u6838\u5fc3：\u8fd0\u884c\u76d1\u63a7\u4e0e\u5e94\u6025\u5904\u7f6e）
    \n\u9002\u7528\u573a\u666f：\u9ad8\u5371\u5316\u5de5\u533a\u57df\u3001\u53d7\u9650\u7a7a\u95f4\u7b49\u573a\u666f，\u673a\u5668\u4eba\u5de1\u68c0\u65f6\u9700\u5b9e\u65f6\u76d1\u63a7\u6c14\u4f53\u6d53\u5ea6\u3001\u8fd0\u884c\u72b6\u6001，\u5f02\u5e38\u65f6\u5feb\u901f\u542f\u52a8\u4fdd\u62a4\u673a\u5236，\u4fdd\u969c\u8bbe\u5907\u4e0e\u4eba\u5458\u5b89\u5168\u3002<\/p>\n

    \u6838\u5fc3\u903b\u8f91
    \n\u5b9e\u65f6\u76d1\u63a7\u6c14\u4f53\u6d53\u5ea6\u3001\u4f20\u611f\u5668\u5065\u5eb7\u3001\u7535\u673a\u72b6\u6001\u4e0e\u7535\u6c60\u7535\u91cf
    \n\u5f53\u6c14\u4f53\u6d53\u5ea6\u8d85\u6807\u6216\u7cfb\u7edf\u5f02\u5e38\u65f6，\u89e6\u53d1\u5206\u7ea7\u4fdd\u62a4\u7b56\u7565
    \n\u5f02\u5e38\u65f6\u81ea\u52a8\u64a4\u79bb\u3001\u4e0a\u62a5\u544a\u8b66，\u907f\u514d\u5371\u9669\u6269\u6563<\/p>\n

    \/\/ \u6a21\u7cca\u6cbf\u5899\u5de1\u68c0+\u6c14\u4f53\u68af\u5ea6\u91c7\u6837+\u5f02\u5e38\u5b89\u5168\u4fdd\u62a4\u7a0b\u5e8f<\/span>
    \n\/\/ \u786c\u4ef6：\u7ea2\u5916\u3001\u6c14\u4f53\u4f20\u611f\u5668\u3001\u8702\u9e23\u5668\u3001\u6025\u505c\u6a21\u5757\u3001\u7535\u538b\u91c7\u96c6<\/span>
    \n\/\/ \u529f\u80fd：\u5de1\u68c0\u8fc7\u7a0b\u4e2d\u72b6\u6001\u76d1\u63a7，\u5f02\u5e38\u5206\u7ea7\u4fdd\u62a4，\u5b89\u5168\u64a4\u79bb<\/span><\/p>\n

    #<\/span>include<\/span> <Arduino.h><\/span><\/span><\/p>\n

    \/\/ ========== \u786c\u4ef6\u5b9a\u4e49 ==========<\/span>
    \nconst<\/span> byte IR_LEFT =<\/span> A0,<\/span> IR_RIGHT =<\/span> A1,<\/span> MQ_PIN =<\/span> A2;<\/span>
    \nconst<\/span> byte PWM_L =<\/span> 6<\/span>,<\/span> DIR_L =<\/span> 7<\/span>,<\/span> PWM_R =<\/span> 8<\/span>,<\/span> DIR_R =<\/span> 9<\/span>;<\/span>
    \nconst<\/span> byte BUZZER =<\/span> 10<\/span>,<\/span> LED_ERR =<\/span> 11<\/span>,<\/span> LED_OK =<\/span> 12<\/span>;<\/span>
    \nconst<\/span> byte E_STOP_PIN =<\/span> 2<\/span>;<\/span> \/\/ \u786c\u4ef6\u6025\u505c\u5f15\u811a<\/span><\/p>\n

    \/\/ ========== \u4fdd\u62a4\u4e0e\u76d1\u63a7\u53c2\u6570 ==========<\/span>
    \nfloat<\/span> gas_concentration =<\/span> 0.0<\/span>;<\/span>
    \nfloat<\/span> gas_gradient =<\/span> 0.0<\/span>;<\/span>
    \nconst<\/span> float<\/span> MAX_ALLOWED_GAS =<\/span> 200.0<\/span>;<\/span> \/\/ \u6d53\u5ea6\u5b89\u5168\u9608\u503c<\/span>
    \nconst<\/span> float<\/span> DANGER_GRADIENT =<\/span> 3.0<\/span>;<\/span> \/\/ \u5371\u9669\u68af\u5ea6\u9608\u503c<\/span>
    \nbool<\/span> systemError =<\/span> false<\/span>;<\/span>
    \nbool<\/span> dangerous =<\/span> false<\/span>;<\/span>
    \nunsigned<\/span> long<\/span> errorFlagTime =<\/span> 0<\/span>;<\/span><\/p>\n

    uint16_t<\/span> batteryVoltage =<\/span> 0<\/span>;<\/span>
    \nconst<\/span> uint16_t<\/span> LOW_BATTERY =<\/span> 7000<\/span>;<\/span> \/\/ \u4f4e\u7535\u91cf\u9608\u503c（mV，\u9700\u6821\u51c6）<\/span>
    \nbool<\/span> isRunning =<\/span> true<\/span>;<\/span><\/p>\n

    \/\/ ========== \u51fd\u6570\u58f0\u660e ==========<\/span>
    \nvoid<\/span> monitorSystemState<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> gradeProtection<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> evacuateToSafety<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> normalOperation<\/span>(<\/span>)<\/span>;<\/span>
    \nvoid<\/span> driveMotor<\/span>(<\/span>int<\/span> left,<\/span> int<\/span> right)<\/span>;<\/span>
    \nvoid<\/span> alarm<\/span>(<\/span>bool<\/span> danger)<\/span>;<\/span><\/p>\n

    void<\/span> setup<\/span>(<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>begin<\/span>(<\/span>115200<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"\u5de1\u68c0+\u91c7\u6837+\u5b89\u5168\u4fdd\u62a4\u7cfb\u7edf\u521d\u59cb\u5316\u5b8c\u6210"<\/span>)<\/span>;<\/span><\/p>\n

    pinMode<\/span>(<\/span>IR_LEFT,<\/span> INPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>IR_RIGHT,<\/span> INPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>MQ_PIN,<\/span> INPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>PWM_L,<\/span> OUTPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>DIR_L,<\/span> OUTPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>PWM_R,<\/span> OUTPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>DIR_R,<\/span> OUTPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>BUZZER,<\/span> OUTPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>LED_ERR,<\/span> OUTPUT)<\/span>;<\/span> pinMode<\/span>(<\/span>LED_OK,<\/span> OUTPUT)<\/span>;<\/span>
    \n pinMode<\/span>(<\/span>E_STOP_PIN,<\/span> INPUT_PULLUP)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    void<\/span> loop<\/span>(<\/span>)<\/span> {<\/span>
    \n monitorSystemState<\/span>(<\/span>)<\/span>;<\/span> \/\/ 1. \u5168\u72b6\u6001\u76d1\u63a7<\/span>
    \n if<\/span> (<\/span>systemError ||<\/span> dangerous)<\/span> {<\/span>
    \n gradeProtection<\/span>(<\/span>)<\/span>;<\/span> \/\/ 2. \u5206\u7ea7\u4fdd\u62a4<\/span>
    \n }<\/span> else<\/span> {<\/span>
    \n normalOperation<\/span>(<\/span>)<\/span>;<\/span> \/\/ 3. \u6b63\u5e38\u5de1\u68c0\u91c7\u6837<\/span>
    \n Brooklyn\u6062\u590d\u6b63\u5e38\u903b\u8f91 }<\/span>
    \n delay<\/span>(<\/span>15<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u7cfb\u7edf\u72b6\u6001\u76d1\u63a7<\/span>
    \nvoid<\/span> monitorSystemState<\/span>(<\/span>)<\/span> {<\/span>
    \n \/\/ 1. \u6c14\u4f53\u6d53\u5ea6\u4e0e\u68af\u5ea6\u68c0\u6d4b<\/span>
    \n gas_concentration =<\/span> analogRead<\/span>(<\/span>MQ_PIN)<\/span> *<\/span> 0.1f<\/span>;<\/span>
    \n gas_gradient =<\/span> calculateGradient<\/span>(<\/span>)<\/span>;<\/span> \/\/ \u590d\u7528\u6848\u4f8b2\u68af\u5ea6\u8ba1\u7b97\u903b\u8f91<\/span>
    \n \/\/ 2. \u4f20\u611f\u5668\u5f02\u5e38\u68c0\u6d4b<\/span>
    \n bool<\/span> sensorOk =<\/span> (<\/span>analogRead<\/span>(<\/span>IR_LEFT)<\/span>!=<\/span>0<\/span> &&<\/span> analogRead<\/span>(<\/span>IR_LEFT)<\/span>!=<\/span>1023<\/span>)<\/span>;<\/span>
    \n sensorOk =<\/span> sensorOk &&<\/span> (<\/span>analogRead<\/span>(<\/span>IR_RIGHT)<\/span>!=<\/span>0<\/span> &&<\/span> analogRead<\/span>(<\/span>IR_RIGHT)<\/span>!=<\/span>1023<\/span>)<\/span>;<\/span>
    \n sensorOk =<\/span> sensorOk &&<\/span> (<\/span>analogRead<\/span>(<\/span>MQ_PIN)<\/span>!=<\/span>0<\/span> &&<\/span> analogRead<\/span>(<\/span>MQ_PIN)<\/span>!=<\/span>1023<\/span>)<\/span>;<\/span>
    \n \/\/ 3. \u6025\u505c\u4fe1\u53f7\u68c0\u6d4b<\/span>
    \n bool<\/span> eStopPressed =<\/span> !<\/span>digitalRead<\/span>(<\/span>E_STOP_PIN)<\/span>;<\/span>
    \n \/\/ 4. \u7535\u6c60\u7535\u538b\u68c0\u6d4b<\/span>
    \n batteryVoltage =<\/span> readBatteryVoltage<\/span>(<\/span>)<\/span>;<\/span>
    \n \/\/ 5. \u7535\u673a\u5f02\u5e38\u68c0\u6d4b（\u5835\u8f6c\u3001\u8fc7\u6d41，\u7b80\u5316）<\/span>
    \n bool<\/span> motorOk =<\/span> getMotorStatus<\/span>(<\/span>)<\/span>;<\/span> \/\/ \u9700\u5b9e\u73b0\u7535\u673a\u72b6\u6001\u8bfb\u53d6<\/span><\/p>\n

    systemError =<\/span> !<\/span>sensorOk ||<\/span> eStopPressed ||<\/span> !<\/span>motorOk;<\/span>
    \n dangerous =<\/span> (<\/span>gas_concentration ><\/span> MAX_ALLOWED_GAS)<\/span> ||<\/span>
    \n (<\/span>gas_gradient ><\/span> DANGER_GRADIENT)<\/span> ||<\/span>
    \n (<\/span>batteryVoltage <<\/span> LOW_BATTERY)<\/span>;<\/span><\/p>\n

    \/\/ \u5f02\u5e38\u8ba1\u65f6，\u907f\u514d\u8bef\u5224<\/span>
    \n if<\/span> (<\/span>systemError ||<\/span> dangerous)<\/span> {<\/span>
    \n if<\/span> (<\/span>millis<\/span>(<\/span>)<\/span> –<\/span> errorFlagTime ><\/span> 1000<\/span>)<\/span> {<\/span>
    \n errorFlagTime =<\/span> millis<\/span>(<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u5206\u7ea7\u4fdd\u62a4\u7b56\u7565<\/span>
    \nvoid<\/span> gradeProtection<\/span>(<\/span>)<\/span> {<\/span>
    \n digitalWrite<\/span>(<\/span>LED_OK,<\/span> LOW)<\/span>;<\/span><\/p>\n

    \/\/ \u4e00\u7ea7\u4fdd\u62a4：\u4f20\u611f\u5668\u5f02\u5e38\u6216\u6025\u505c，\u7acb\u5373\u505c\u673a<\/span>
    \n if<\/span> (<\/span>systemError)<\/span> {<\/span>
    \n driveMotor<\/span>(<\/span>0<\/span>,<\/span> 0<\/span>)<\/span>;<\/span>
    \n alarm<\/span>(<\/span>true<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"\u4e00\u7ea7\u4fdd\u62a4：\u7cfb\u7edf\u5f02\u5e38，\u7d27\u6025\u505c\u673a"<\/span>)<\/span>;<\/span>
    \n isRunning =<\/span> false<\/span>;<\/span>
    \n return<\/span>;<\/span>
    \n }<\/span><\/p>\n

    if<\/span> (<\/span>!<\/span>isRunning)<\/span> return<\/span>;<\/span><\/p>\n

    \/\/ \u4e8c\u7ea7\u4fdd\u62a4：\u6c14\u4f53\u6d53\u5ea6\u8d85\u6807\u6216\u5371\u9669\u68af\u5ea6，\u64a4\u79bb\u5230\u5b89\u5168\u533a\u57df<\/span>
    \n if<\/span> (<\/span>dangerous)<\/span> {<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>"\u4e8c\u7ea7\u4fdd\u62a4：\u68c0\u6d4b\u5230\u5371\u9669，\u542f\u52a8\u64a4\u79bb"<\/span>)<\/span>;<\/span>
    \n evacuateToSafety<\/span>(<\/span>)<\/span>;<\/span>
    \n alarm<\/span>(<\/span>true<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u64a4\u79bb\u5230\u5b89\u5168\u533a\u57df：\u53cd\u5411\u884c\u9a76，\u8fdc\u79bb\u5371\u9669<\/span>
    \nvoid<\/span> evacuateToSafety<\/span>(<\/span>)<\/span> {<\/span>
    \n driveMotor<\/span>(<\/span>–<\/span>120<\/span>,<\/span> –<\/span>120<\/span>)<\/span>;<\/span> \/\/ \u53cd\u5411\u884c\u9a76，\u901f\u5ea6\u53ef\u63a7<\/span>
    \n \/\/ \u64a4\u79bb\u8fc7\u7a0b\u4e2d\u6301\u7eed\u76d1\u6d4b\u6d53\u5ea6，\u5b89\u5168\u540e\u51cf\u901f<\/span>
    \n if<\/span> (<\/span>gas_concentration <<\/span> MAX_ALLOWED_GAS *<\/span> 0.7<\/span>)<\/span> {<\/span>
    \n driveMotor<\/span>(<\/span>–<\/span>80<\/span>,<\/span> –<\/span>80<\/span>)<\/span>;<\/span> \/\/ \u6d53\u5ea6\u4e0b\u964d\u540e\u51cf\u901f<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u6b63\u5e38\u8fd0\u884c：\u6cbf\u5899\u5de1\u68c0+\u91c7\u6837（\u7b80\u5316，\u590d\u7528\u6848\u4f8b2\u903b\u8f91）<\/span>
    \nvoid<\/span> normalOperation<\/span>(<\/span>)<\/span> {<\/span>
    \n digitalWrite<\/span>(<\/span>LED_OK,<\/span> HIGH)<\/span>;<\/span> digitalWrite<\/span>(<\/span>LED_ERR,<\/span> LOW)<\/span>;<\/span>
    \n driveMotor<\/span>(<\/span>170<\/span>,<\/span> 170<\/span>)<\/span>;<\/span> \/\/ \u57fa\u7840\u6cbf\u5899\u901f\u5ea6<\/span>
    \n \/\/ \u52a8\u6001\u91c7\u6837\u903b\u8f91（\u540c\u6848\u4f8b2）<\/span>
    \n uint32_t<\/span> now =<\/span> millis<\/span>(<\/span>)<\/span>;<\/span>
    \n if<\/span> (<\/span>now %<\/span> 1500<\/span> <<\/span> 20<\/span>)<\/span> {<\/span>
    \n Serial.<\/span>print<\/span>(<\/span>"\u6b63\u5e38\u91c7\u6837\u6d53\u5ea6："<\/span>)<\/span>;<\/span>
    \n Serial.<\/span>println<\/span>(<\/span>gas_concentration)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u544a\u8b66\u529f\u80fd<\/span>
    \nvoid<\/span> alarm<\/span>(<\/span>bool<\/span> danger)<\/span> {<\/span>
    \n digitalWrite<\/span>(<\/span>LED_ERR,<\/span> danger ?<\/span> HIGH :<\/span> LOW)<\/span>;<\/span>
    \n for<\/span> (<\/span>byte i=<\/span>0<\/span>;<\/span> i<<\/span>3<\/span>;<\/span> i++<\/span>)<\/span> {<\/span>
    \n digitalWrite<\/span>(<\/span>BUZZER,<\/span> HIGH)<\/span>;<\/span>
    \n delay<\/span>(<\/span>150<\/span>)<\/span>;<\/span>
    \n digitalWrite<\/span>(<\/span>BUZZER,<\/span> LOW)<\/span>;<\/span>
    \n delay<\/span>(<\/span>150<\/span>)<\/span>;<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u7535\u673a\u9a71\u52a8<\/span>
    \nvoid<\/span> driveMotor<\/span>(<\/span>int<\/span> left,<\/span> int<\/span> right)<\/span> {<\/span>
    \n left =<\/span> constrain<\/span>(<\/span>left,<\/span> –<\/span>255<\/span>,<\/span> 255<\/span>)<\/span>;<\/span>
    \n right =<\/span> constrain<\/span>(<\/span>right,<\/span> –<\/span>255<\/span>,<\/span> 255<\/span>)<\/span>;<\/span>
    \n if<\/span> (<\/span>left >=<\/span>0<\/span>)<\/span> {<\/span> digitalWrite<\/span>(<\/span>DIR_L,<\/span> HIGH)<\/span>;<\/span> analogWrite<\/span>(<\/span>PWM_L,<\/span> left)<\/span>;<\/span> }<\/span>
    \n else<\/span> {<\/span> digitalWrite<\/span>(<\/span>DIR_L,<\/span> LOW)<\/span>;<\/span> analogWrite<\/span>(<\/span>PWM_L,<\/span> abs<\/span>(<\/span>left)<\/span>)<\/span>;<\/span> }<\/span>
    \n if<\/span> (<\/span>right >=<\/span>0<\/span>)<\/span> {<\/span> digitalWrite<\/span>(<\/span>DIR_R,<\/span> HIGH)<\/span>;<\/span> analogWrite<\/span>(<\/span>PWM_R,<\/span> right)<\/span>;<\/span> }<\/span>
    \n else<\/span> {<\/span> digitalWrite<\/span>(<\/span>DIR_R,<\/span> LOW)<\/span>;<\/span> analogWrite<\/span>(<\/span>PWM_R,<\/span> abs<\/span>(<\/span>right)<\/span>)<\/span>;<\/span> }<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u8f85\u52a9\u51fd\u6570：\u8bfb\u53d6\u7535\u6c60\u7535\u538b（\u7b80\u5316，\u9700\u6821\u51c6）<\/span>
    \nuint16_t<\/span> readBatteryVoltage<\/span>(<\/span>)<\/span> {<\/span>
    \n return<\/span> analogRead<\/span>(<\/span>A3)<\/span> *<\/span> 24<\/span>;<\/span>
    \n}<\/span>
    \n\/\/ \u8f85\u52a9\u51fd\u6570：\u83b7\u53d6\u7535\u673a\u72b6\u6001（\u7b80\u5316，\u793a\u4f8b\u8fd4\u56de\u6b63\u5e38）<\/span>
    \nbool<\/span> getMotorStatus<\/span>(<\/span>)<\/span> {<\/span>
    \n return<\/span> true<\/span>;<\/span>
    \n}<\/span>
    \n\/\/ \u8f85\u52a9\u51fd\u6570：\u68af\u5ea6\u8ba1\u7b97（\u540c\u6848\u4f8b2，\u7b80\u5316）<\/span>
    \nfloat<\/span> calculateGradient<\/span>(<\/span>)<\/span> {<\/span>
    \n return<\/span> (<\/span>analogRead<\/span>(<\/span>MQ_PIN)<\/span>*<\/span>0.1f<\/span> –<\/span> 50.0f<\/span>)<\/span> \/<\/span> 5.0f<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \u9002\u7528\u573a\u666f\u4f18\u5316
    \n\u589e\u52a0\u8fdc\u7a0b\u901a\u8baf\u6a21\u5757，\u5f02\u5e38\u65f6\u5b9e\u65f6\u4e0a\u62a5\u4f4d\u7f6e\u4e0e\u72b6\u6001，\u4fbf\u4e8e\u540e\u53f0\u7ba1\u63a7
    \n\u4f18\u5316\u64a4\u79bb\u8def\u5f84，\u7ed3\u5408SLAM\u5730\u56fe\u9009\u62e9\u5b89\u5168\u8def\u7ebf，\u907f\u514d\u64a4\u79bb\u65f6\u649e\u5899
    \n\u52a0\u5165\u9632\u62a4\u5916\u58f3\u4e0e\u6c14\u4f53\u8fc7\u6ee4，\u63d0\u5347\u673a\u5668\u4eba\u5728\u9ad8\u5371\u73af\u5883\u4e0b\u7684\u81ea\u8eab\u9632\u62a4\u80fd\u529b<\/p>\n

    \u8981\u70b9\u89e3\u8bfb
    \n\u8981\u70b91：\u6a21\u7cca\u6cbf\u5899\u63a7\u5236\u6838\u5fc3\u662f\u201c\u8ddd\u79bb\u96b6\u5c5e\u5ea6+\u901f\u5ea6\u89c4\u5219\u201d，\u9002\u914d\u590d\u6742\u5899\u4f53\u573a\u666f
    \n\u6a21\u7cca\u63a7\u5236\u80fd\u6709\u6548\u5e94\u5bf9\u5899\u4f53\u4e0d\u89c4\u5219\u3001\u4f20\u611f\u5668\u6ce2\u52a8\u7b49\u95ee\u9898，\u662f\u6cbf\u5899\u7a33\u5b9a\u884c\u9a76\u7684\u5173\u952e\u3002
    \n\u96b6\u5c5e\u5ea6\u8bbe\u8ba1：\u5c06\u7ea2\u5916\u68c0\u6d4b\u7684\u8ddd\u79bb\u5212\u5206\u4e3a\u8fd1\u8ddd\u79bb\u3001\u9002\u4e2d\u3001\u8fdc\u8ddd\u79bb\u4e09\u4e2a\u7b49\u7ea7，\u8ba1\u7b97\u96b6\u5c5e\u5ea6，\u5b9e\u73b0\u5bf9\u8ddd\u79bb\u7684\u6a21\u7cca\u5316\u5904\u7406，\u907f\u514d\u5355\u4e00\u9608\u503c\u5e26\u6765\u7684\u987f\u632b\u611f
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