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。