arduino 循迹小车

大家好，今天我们来做一个光杆寻黑线的实验。即小车循着黑色的赛道走，不会脱离轨道，很神奇吧？下面是小编的一段代码。

int MotorRight1 = 14;

int MotorRight2 = 15;

int MotorLeft1 = 16;

int MotorLeft2 = 17;

int MotorRPWM = 3;

int MotorLPWM = 5;

const int SensorLeft = 2;

const int SensorRight = 6;

int SL;

int SR;

void setup() {

Serial.begin(9600);

pinMode(MotorRight1, OUTPUT);

pinMode(MotorRight2, OUTPUT);

pinMode(MotorLeft1, OUTPUT);

pinMode(MotorLeft2, OUTPUT);

pinMode(MotorLPWM, OUTPUT);

pinMode(MotorRPWM, OUTPUT);

pinMode(SensorLeft, INPUT);

pinMode(SensorRight, INPUT)

}

void loop() {

SL = digitalRead(SensorLeft);

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) {

delay(1);

digitalWrite(MotorRight1, HIGH);

digitalWrite(MotorRight2, LOW);

analogWrite(MotorRPWM, 130);

digitalWrite(MotorLeft1, LOW);

digitalWrite(MotorLeft2, LOW);

}

else if (SR == HIGH & SL == LOW) {

delay(1);

digitalWrite(MotorRight1, LOW);

digitalWrite(MotorRight2, LOW);

digitalWrite(MotorLeft1, HIGH);

digitalWrite(MotorLeft2, LOW);

analogWrite(MotorLPWM, 130);

}

else {

digitalWrite(MotorRight1, LOW);

digitalWrite(MotorRight2, LOW);

digitalWrite(MotorLeft1, LOW);

digitalWrite(MotorLeft2, LOW);;

}

}

}

上传代码后，小车就会沿着黑色的轨道走了。