循迹小车Arduino 程序.doc

精品文档/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int MotorRight1=14; /A0 IN1int MotorRight2=15; /A1 IN2int MotorLeft1=16; /A2 IN3int MotorLeft2=17; /A3 IN4int MotorRPWM=5; /PWM 5int MotorLPWM=3; /PWM 3const int SensorLeft = 2; /左感測器輸入腳const int SensorRight = 6; /右感測器輸入腳int SL; /左感測器狀態int 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(SensorRight, INPUT); /定義右感測器void loop() SL = digitalRead(SensorLeft); SR = digitalRead(SensorRight); if (SL = LOW&SR=LOW)/ 前進 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); /0-100-250 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 = HIGH & SR = LOW)/ 左白右黑, 快速左轉 delay(1); digitalWrite(MotorRight1,HIGH);/IN1 右电机 高电平反转 digitalWrite(MotorRight2,LOW);/IN2 右电机 高电平正转 analogWrite(MotorRPWM,130); 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 if (SR = HIGH & SL = LOW) / 右白左黑, 快速右轉 delay(1); 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); digitalWrite(MotorLeft1,HIGH);/IN3 左电机 高电平正转 digitalWrite(MotorLeft2,LOW);/IN4 左电机 高电平反转 analogWrite(MotorLPWM,130); else / 都是白色, 停止 digitalWrite(MotorRight1,LOW); digitalWrite(MotorRight2,LOW); analogWrite(MotorRPWM,0); digitalWrite(MotorLeft1,LOW); digitalWrite(MotorLe