3.控速，红外传感

1.基础知识

2.小车转速代码

int leftX = 11;
int rightX = 12;

void carInit()
{
  // put your setup code here, to run once:
  pinMode(2, OUTPUT); // 配置2口为输出引脚
  pinMode(3, OUTPUT); // 配置3口为输出引脚
  //右轮信号方向初始化
  pinMode(4, OUTPUT); // 配置4口为输出引脚
  pinMode(5, OUTPUT); // 配置5口为输出引脚
}
void qianJin() {
  // 小车前进的功能
  digitalWrite(2, LOW);
  analogWrite(3, 70);
  digitalWrite(4, LOW);
  analogWrite(5, 70);
}

void ting() {
  // 小车停止的功能
  digitalWrite(2, LOW);
  analogWrite(3, 0);
  digitalWrite(4, LOW);
  analogWrite(5, 0);
}

void zuoZhuan() {
  // 小车左转，左边电机速度慢，右边电机速度快
  digitalWrite(2, LOW);
  analogWrite(3, 80); //左
  digitalWrite(4, LOW);
  analogWrite(5, 220);//右
}

void youZhuan() {
  // 小车右转，左边电机速度快，右边电机速度慢
  digitalWrite(2, LOW);
  analogWrite(3, 220); //左
  digitalWrite(4, LOW);
  analogWrite(5, 80);//右
}


void setup() {
  // put your setup code here, to run once:
  carInit();
  pinMode(leftX,INPUT);//设置输入模式
  pinMode(rightX,INPUT);
}

void loop() {
  // put your main code here, to run repeatedly:
  //什么时候该左转
  //左循迹模块的电平表现为高电平,右循迹模块表现为低电平
  if( digitalRead(leftX) == 1 && digitalRead(rightX) == 0 ){
      zuoZhuan();
  }

  //什么时候右转
  //右循迹高电平，左循迹低电平
  if( digitalRead(leftX) == 0 && digitalRead(rightX) == 1 ){
    youZhuan();  
  }
  //什么时候前进
  //左右都为低电平
  if( digitalRead(leftX) == 0 && digitalRead(rightX) == 0 ){
    qianJin();  
  }

   //什么时候停
  //左右都为高电平
   if( digitalRead(leftX) == 1 && digitalRead(rightX) == 1 ){
    ting();  
  }
}