arduino循迹小车

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);;
        }}}