武术擂台机器人1

前进和后退，左右两边的方向都朝前或朝后，速度一致；
原地顺时针旋转时，左边轮子前进，右边轮子后退，速度一致；
原地逆时针旋转时，左边轮子后退，右边轮子前进，速度一致；
偏左前进时，左右两边的方向都朝前，左轮速度比右轮速度慢一点；
偏右前进时，左右两边的方向都朝前，左轮速度比右轮速度快一点；
偏左后退时，左右两边的方向都朝后，左轮速度比右轮速度慢一点；
偏右后退时，左右两边的方向都朝后，左轮速度比右轮速度快一点；
 

（左边俩个轮子用一个电机，右边俩个轮子用一个电机）

//左边的电机控制引脚
 #define leftMotor_1 6;
 #define leftMotor 7;
 #define leftMotor_2 8;
 //右边的电机控制引脚
 #define rightMotor_1 3;
 #define rightMotor 4;
 #define rightMotor_2 5;

void setup() {
 // put your setup code here, to run once:
 //设置控制电机的引脚为输出状态
 pinMode(leftMotor_1, OUTPUT);
 pinMode(leftMotor_2, OUTPUT);
 pinMode(rightMotor_1, OUTPUT);
 pinMode(rightMotor_2, OUTPUT);
 }


void loop() {
  // put your main code here, to run repeatedly:
//控制小车左转,左边电机停止,右边电机正转
 void moveLeft(void)
 {
 analogWrite(leftMotor_1, LOW);
 analogWrite(leftMotor, 0);
 analogWrite(leftMotor_2, LOW);
 analogWrite(rightMotor_1, LOW);
 analogWrite(rightMotor, 80);
 analogWrite(rightMotor_2, HIGH);
 }
 //控制小车右转,左边电机正转,右边电机停止
 void moveRight(void)
 {
 analogWrite(leftMotor_1,LOW);
 analogWrite(leftMotor, 80);
 analogWrite(leftMotor_2, HIGH);
 analogWrite(rightMotor_1, LOW);
 analogWrite(rightMotor, 0);
 analogWrite(rightMotor_2, LOW);
 }
 //控制小车前进,左边电机正转,右边电机正转
 void moveForward(void)
 {
 analogWrite(leftMotor_1, LOW);
 analogWrite(leftMotor, 150);
 analogWrite(leftMotor_2, HIGH);
 analogWrite(rightMotor_1, LOW);
 analogWrite(rightMotor, 150);
 analogWrite(rightMotor_2, HIGH);
 }
 //控制小车反转,左边电机反转,右边电机反转
 void moveBackward(void)
 {
 analogWrite(leftMotor_1, HIGH);
 analogWrite(leftMotor, 120);
 analogWrite(leftMotor_2, LOW);
 analogWrite(rightMotor_1, HIGH);
 analogWrite(rightMotor, 120);
 analogWrite(rightMotor_2, LOW);
 }
 //控制小车停止,左边电机停止,右边电机停止
 void stopCar(void)
 {
 analogWrite(leftMotor_1, LOW);
 analogWrite(leftMotor, 0);
 analogWrite(leftMotor_2, LOW);
 analogWrite(rightMotor_1, LOW);
 analogWrite(rightMotor, 0);
 analogWrite(rightMotor_2, LOW);
 } 
}