arduino循迹小车

来源：互联网发布：天猫淘宝网商城编辑：程序博客网时间：2024/04/28 08:11
int MotorRight1=14;int MotorRight2=15;int MotorLeft1=16;int MotorLeft2=17;int MotorRPWM=3;int MotorLPWM=5;const int SensorLeft = 2;      //左感測器輸入腳//const int SensorMiddle= 4 ;    //中感測器輸入腳const int SensorRight = 6;     //右感測器輸入腳int SL;    //左感測器狀態//int SM;    //中感測器狀態int SR;    //右感測器狀態void setup(){    Serial.begin(9600);  pinMode(MotorRight1, OUTPUT);  // 腳位 14 (PWM)  pinMode(MotorRight2, OUTPUT);  // 腳位 15 (PWM)  pinMode(MotorLeft1,  OUTPUT);  // 腳位 16 (PWM)   pinMode(MotorLeft2,  OUTPUT);  // 腳位 17 (PWM)    pinMode(MotorLPWM,  OUTPUT);  // 腳位 3 (PWM)   pinMode(MotorRPWM,  OUTPUT);  // 腳位 5 (PWM)    pinMode(SensorLeft, INPUT); //定義左感測器 //   pinMode(SensorMiddle, INPUT);//定義中感測器  pinMode(SensorRight, INPUT); //定義右感測器}void loop()  { SL = digitalRead(SensorLeft); // SM = digitalRead(SensorMiddle); SR = digitalRead(SensorRight);       if (SL == LOW&&SR==LOW)//   {              digitalWrite(MotorRight1,HIGH);             digitalWrite(MotorRight2,LOW);             analogWrite(MotorRPWM,150);                          digitalWrite(MotorLeft1,HIGH);             digitalWrite(MotorLeft2,LOW);             analogWrite(MotorLPWM,150);                    }                    else //       {           if (SL == HIGH & SR == LOW)// 左黑右白, 快速左轉         {              delay(1);            digitalWrite(MotorRight1,HIGH);            digitalWrite(MotorRight2,LOW);            analogWrite(MotorRPWM,130);                       digitalWrite(MotorLeft1,LOW);            digitalWrite(MotorLeft2,LOW);        }         else if (SR == HIGH & SL == LOW) // 左白右黑, 快速右轉        {            delay(1);           digitalWrite(MotorRight1,LOW);           digitalWrite(MotorRight2,LOW);           digitalWrite(MotorLeft1,HIGH);           digitalWrite(MotorLeft2,LOW);           analogWrite(MotorLPWM,130);                  }         else // 都是白色, 停止        {            digitalWrite(MotorRight1,LOW);        digitalWrite(MotorRight2,LOW);        digitalWrite(MotorLeft1,LOW);        digitalWrite(MotorLeft2,LOW);;        }}}
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