arduino循迹小车源程序-

1、int led1=0,led2=0,led3=0,led4=0,led5=0,led6=0,led7=0; /电压7.8V ;led17 分别用来接收七个探头检测回来的值int in1=9,in2=3,in3=10,in4=11; /数字IO口9,3,10,11用来控制电机int sum=0;void setup(pinMode(0,INPUT;pinMode(7,INPUT;pinMode(1,INPUT;pinMode(8,INPUT;pinMode(2,INPUT;pinMode(3,OUTPUT;pinMode(6,INPUT;pinMode(9,OUTPUT;pinMode(4,IN

2、PUT;pinMode(10,OUTPUT;pinMode(13,INPUT;pinMode(11,OUTPUT;pinMode(12,INPUT;pinMode(5,INPUT;digitalWrite(in2,LOW;digitalWrite(in4,LOW;void motor(char pwmpin,char pin,int val /给电机两个输入口赋PWM值pinMode(pin, OUTPUT;analogWrite(pwmpin,val;digitalWrite(pin,LOW;void turn_led1_0( /in1给20,in2给低电平 /in3给250,in4给低电平

3、motor(in1,in2,20; /PWM满值255,差值决定转角度,大小决定速度motor(in3,in4,250;void turn_led1_1(motor(in1,in2,20;motor(in3,in4,250;void turn_led2_0(motor(in1,in2,70;motor(in3,in4,250;void turn_led2_1(motor(in1,in2,130;motor(in3,in4,250;void turn_led3_0(motor(in1,in2,180; motor(in3,in4,250; void turn_led3_1( motor(in1,

4、in2,250; motor(in3,in4,250; void turn_led4_0( motor(in1,in2,250; motor(in3,in4,250; void turn_led4_1( motor(in1,in2,250; motor(in3,in4,250; void turn_led5_0( motor(in1,in2,250; motor(in3,in4,180; void turn_led5_1( motor(in1,in2,250; motor(in3,in4,130; void turn_led6_0( motor(in1,in2,250; motor(in3,i

5、n4,70; void turn_led6_1( motor(in1,in2,250; motor(in3,in4,20; void turn_led7_0( motor(in1,in2,250;motor(in3,in4,20; void turn_stop(motor(in1,in2,0;motor(in1,in2,0;void test( /检测光电管探头。是黑线返回高电平(1,白线返回低电平(0,这与实际电路相关 /0,1,2,6,4,7,8是数字IO口,读取检测值led1=digitalRead(0;led2=digitalRead(1;led3=digitalRead(2;led4

6、=digitalRead(6;led5=digitalRead(4;led6=digitalRead(7;led7=digitalRead(8;int deal( /对每个探头赋值:从左往右-6,-4,-2,0,2,4,6 记录检测到黑线的探头个数并将值相加int a=0,b=0,c=0,d=0,e=0,f=0,g=0;int i=0,value=0;test(;if(led1=1a=-6;i+;if(led2=1b=-4;i+;if(led3=1c=-2;i+;if(led4=1d=0;i+;if(led5=1e=2;i+;if(led6=1f=4;i+;if(led7=1g=6;i+;su

7、m=a+b+c+d+e+f+g; /求平均值,较精确的确定黑线位置if(i=0 value=8; /分母不能为0,冲出跑道均没检测到的特殊情况,让小车保持上一次的状态else if(i<3 value=sum/i; /一般的情况:1个或2个检测到黑线elseif(sum<0 value=-6; /特殊情况:左急弯,右急弯,直道else if(sum>0 value=6;else value=0;return value;void loop(static char a5,j=0; /数组记录上次值if(j=5 j=0;if(deal(=8if(j=0 aj=a4;else aj

8、=aj-1;switch(aj /对各种返回值的响应速度和转弯角度case -6:turn_led1_0(;break;case -5:turn_led1_1(;break;case -4:turn_led2_0(;break;case -3:turn_led2_1(;break;case -2:turn_led3_0(;break;case -1:turn_led3_1(;break;case 0:turn_led4_0(;break;case 1:turn_led4_1(;break;case 2:turn_led5_0(;break;case 3:turn_led5_1(;break;case 4:turn_led6_0(;break;case 5:turn_led6_1(;break;case 6:turn_led7_0(;break;default:turn_led4_0(;break