循迹小车Arduino 程序.pdf

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//循迹小车Arduino程序：

//R是右(right),L是左(left)小车对着自己看时分的左右

intMotorRight1=14;//A0IN1

intMotorRight2=15;//A1IN2

intMotorLeft1=16;//A2IN3

intMotorLeft2=17;//A3IN4

intMotorRPWM=5;//PWM5

intMotorLPWM=3;//PWM3

constintSensorLeft=2;//左感测器输入脚

constintSensorRight=6;//右感测器输入脚

intSL;//左感测器状态

intSR;//右感测器状态

voidsetup()

{

Serial.begin(9600);

pinMode(MotorRight1,OUTPUT);//脚位14(PWM)

pinMode(MotorRight2,OUTPUT);//脚位15(PWM)

pinMode(MotorLeft1,OUTPUT);//脚位16(PWM)

pinMode(MotorLeft2,OUTPUT);//脚位17(PWM)

pinMode(MotorLPWM,OUTPUT);//脚位3(PWM)

pinMode(MotorRPWM,OUTPUT);//脚位5(PWM)

pinMode(SensorLeft,INPUT);//定义左感测器

pinMode(SensorRight,INPUT);//定义右感测器

}

voidloop()

{

SL=digitalRead(SensorLeft);

SR=digitalRead(SensorRight);

if(SL==LOWSR==LOW)//前进

{

digitalWrite(MotorRight1,LOW);//IN1右电机高电平反转

digitalWrite(MotorRight2,HIGH);//IN2右电机高电平正转

analogWrite(MotorRPWM,130);//0100--250

digitalWrite(MotorLeft1,LOW);//IN3左电机高电平正转

digitalWrite(MotorLeft2,HIGH);//IN4左电机高电平反转

analogWrite(MotorLPWM,130);

}

else//R是右(right),L是左(left)小车对着自己看时分的左右

{

if(SL==HIGHSR==LOW)//左白右黑,快速左转

{

delay(1);

digitalWrite(MotorRight1,