求助，超声波避障小车编程问题

Gus8857

设想的情况是小车在探测到障碍物时能够停下来，然后转向，但是实测时，小车会一直撞到障碍物上，然后大概过上1秒才能有反应，这种情况咋么破？
小车装4个传感器， 前方两个为F1，F2， 左右各为L,R，原定探测距离20CM时反应，各种撞墙，后来放大到35，还是一样会撞上。
代码是ardublock生成的，大神帮忙看下哪里有问题。
代码如下：
int _ABVAR_4_R;
int _ABVAR_1_F1;
int _ABVAR_2_F2;
int _ABVAR_3_L;
int ardublockUltrasonicSensorCodeAutoGeneratedReturnCM(int trigPin, int echoPin)
{
  int duration;
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  duration = duration / 59;
  return duration;
}


void setup()
{
digitalWrite( 8 , LOW );

_ABVAR_2_F2 = 0;
digitalWrite( 12 , LOW );

Serial.begin(9600);
pinMode( 2 , OUTPUT);
_ABVAR_3_L = 0;
digitalWrite( 10 , LOW );

pinMode( 5 , OUTPUT);
_ABVAR_1_F1 = 0;
pinMode( 3 , OUTPUT);
_ABVAR_4_R = 0;
pinMode( 4 , OUTPUT);
digitalWrite( 6 , LOW );

}

void loop()
{
_ABVAR_1_F1 = ardublockUltrasonicSensorCodeAutoGeneratedReturnCM( 10 , 11 ) ;
delay( 75 );
Serial.print( "Distance F1(cm):" );
Serial.print( _ABVAR_1_F1 );
Serial.println("");
_ABVAR_2_F2 = ardublockUltrasonicSensorCodeAutoGeneratedReturnCM( 8 , 9 ) ;
delay( 75 );
Serial.print( "Distance F2(cm):" );
Serial.print( _ABVAR_2_F2 );
Serial.println("");
_ABVAR_3_L = ardublockUltrasonicSensorCodeAutoGeneratedReturnCM( 12 , 13 ) ;
delay( 75 );
Serial.print( "Distance L(cm):" );
Serial.print( _ABVAR_3_L );
Serial.println("");
_ABVAR_4_R = ardublockUltrasonicSensorCodeAutoGeneratedReturnCM( 6 , 7 ) ;
delay( 75 );
Serial.print( "Distance R(cm):" );
Serial.print( _ABVAR_4_R );
Serial.println("");
digitalWrite( 2 , LOW );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , LOW );
if (( ( ( ( _ABVAR_1_F1 ) >= ( 35 ) ) && ( ( _ABVAR_2_F2 ) >= ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) >= ( 25 ) ) && ( ( _ABVAR_4_R ) >= ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 30 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) < ( 35 ) ) && ( ( _ABVAR_2_F2 ) >= ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) >= ( 25 ) ) && ( ( _ABVAR_4_R ) >= ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , HIGH );
delay( 61 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) >= ( 35 ) ) && ( ( _ABVAR_2_F2 ) < ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) >= ( 25 ) ) && ( ( _ABVAR_4_R ) >= ( 25 ) ) ) ))
{
digitalWrite( 2 , LOW );
digitalWrite( 3 , HIGH );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 61 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) >= ( 35 ) ) && ( ( _ABVAR_2_F2 ) >= ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) < ( 25 ) ) && ( ( _ABVAR_4_R ) >= ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 30 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) >= ( 35 ) ) && ( ( _ABVAR_2_F2 ) >= ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) >= ( 25 ) ) && ( ( _ABVAR_4_R ) < ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 30 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) < ( 35 ) ) && ( ( _ABVAR_2_F2 ) >= ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) < ( 25 ) ) && ( ( _ABVAR_4_R ) >= ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , HIGH );
delay( 82 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) < ( 35 ) ) && ( ( _ABVAR_2_F2 ) < ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) >= ( 25 ) ) && ( ( _ABVAR_4_R ) >= ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , HIGH );
delay( 123 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) < ( 35 ) ) && ( ( _ABVAR_2_F2 ) < ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) < ( 25 ) ) && ( ( _ABVAR_4_R ) < ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 245 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) >= ( 35 ) ) && ( ( _ABVAR_2_F2 ) < ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) < ( 25 ) ) && ( ( _ABVAR_4_R ) >= ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , HIGH );
delay( 123 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) >= ( 35 ) ) && ( ( _ABVAR_2_F2 ) < ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) >= ( 25 ) ) && ( ( _ABVAR_4_R ) < ( 25 ) ) ) ))
{
digitalWrite( 2 , LOW );
digitalWrite( 3 , HIGH );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 82 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) >= ( 35 ) ) && ( ( _ABVAR_2_F2 ) >= ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) < ( 25 ) ) && ( ( _ABVAR_4_R ) < ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 30 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) >= ( 35 ) ) && ( ( _ABVAR_2_F2 ) < ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) < ( 25 ) ) && ( ( _ABVAR_4_R ) < ( 25 ) ) ) ))
{
digitalWrite( 2 , LOW );
digitalWrite( 3 , HIGH );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 163 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) < ( 35 ) ) && ( ( _ABVAR_2_F2 ) < ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) >= ( 25 ) ) && ( ( _ABVAR_4_R ) < ( 25 ) ) ) ))
{
digitalWrite( 2 , LOW );
digitalWrite( 3 , HIGH );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 123 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) < ( 35 ) ) && ( ( _ABVAR_2_F2 ) >= ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) < ( 25 ) ) && ( ( _ABVAR_4_R ) < ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , HIGH );
delay( 163 );
}
if (( ( ( ( _ABVAR_1_F1 ) < ( 35 ) ) && ( ( _ABVAR_2_F2 ) < ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) < ( 25 ) ) && ( ( _ABVAR_4_R ) >= ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , HIGH );
delay( 123 );
}
else
{
if (( ( ( ( _ABVAR_1_F1 ) < ( 35 ) ) && ( ( _ABVAR_2_F2 ) >= ( 35 ) ) ) && ( ( ( _ABVAR_3_L ) >= ( 25 ) ) && ( ( _ABVAR_4_R ) < ( 25 ) ) ) ))
{
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , HIGH );
delay( 123 );
}
}
}
{
}
}
}
}
}
}
}
}
}
}
}
}
}
}

Gus8857

补充一下，反应迟滞问题已经解决了，但是小车自重比较大，在应有的测试距离上还没等反应就撞墙了，怎么加一个合适的制动程序啊？那个大神指点一下，以前进为例，直接在
digitalWrite( 2 , HIGH );
digitalWrite( 3 , LOW );
digitalWrite( 4 , HIGH );
digitalWrite( 5 , LOW );
delay( 30 );后面加
digitalWrite( 2 , LOW );
digitalWrite( 3 , LOW );
digitalWrite( 4 , LOW );
digitalWrite( 5 , LOW );
delay( 30 );
本想让小车间歇性前进，可是不管用~~~

1415926

你的检测完到停下来之间的代码似乎有多处delay， 这些delay的时间小车都在前进。建议去掉这些delay，仅仅在loop函数最后delay
4个变量不知道具体含义，没仔细看代码有没逻辑问题

w01218

我觉的你这个程序是顺序执行，如果最后一个成立时，你小车在执行第一个代码，那么中间的多个delay就是你小车反应慢的原因