day -4 红外寻迹小车测试2 -arduino

最新推荐文章于 2022-06-21 19:47:17 发布

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最新推荐文章于 2022-06-21 19:47:17 发布

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分类专栏： arduino折腾日记文章标签： arduino

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//一共4个传感器，从左到右分别为D 2，1，3，4引脚
int Left_f = 8;
int Left_s = 7;
int Right_f = 2;
int Right_s = 4;
int Left_go = 6;
int Right_go = 5;
void go_straight() {
  digitalWrite(Left_f, HIGH);
  digitalWrite(Left_s, LOW);
  digitalWrite(Right_f, HIGH);
  digitalWrite(Right_s, LOW);
  analogWrite(Left_go, 110);
  analogWrite(Right_go, 110);
}
void Stop() {
  digitalWrite(Left_f, LOW);
  digitalWrite(Left_s, LOW);
  digitalWrite(Right_f, LOW);
  digitalWrite(Right_s, LOW);
  analogWrite(Left_go, 0);
  analogWrite(Right_go, 0);
}
void turn_left() {
  digitalWrite(Left_f, LOW);
  digitalWrite(Left_s, HIGH);
  digitalWrite(Right_f, HIGH);
  digitalWrite(Right_s, LOW);
  analogWrite(Left_go, 0);
  analogWrite(Right_go, 110);
}
void turn_right() {
  digitalWrite(Left_f, HIGH);
  digitalWrite(Left_s, LOW);
  digitalWrite(Right_f, LOW);
  digitalWrite(Right_s, HIGH);
  analogWrite(Left_go, 110);
  analogWrite(Right_go, 0);
}
void back() {
  digitalWrite(Left_f, LOW);
  digitalWrite(Left_s, HIGH);
  digitalWrite(Right_f, LOW);
  digitalWrite(Right_s, HIGH);
  analogWrite(Left_go, 110);
  analogWrite(Right_go, 110);
}
void turn_left_stop() {
  digitalWrite(Left_f, LOW);
  digitalWrite(Left_s, HIGH);
  digitalWrite(Right_f, HIGH);
  digitalWrite(Right_s, LOW);
  analogWrite(Left_go, 110);
  analogWrite(Right_go, 110);
}
void turn_right_stop() {
  digitalWrite(Left_f, HIGH);
  digitalWrite(Left_s, LOW);
  digitalWrite(Right_f, LOW);
  digitalWrite(Right_s, HIGH);
  analogWrite(Left_go, 110);
  analogWrite(Right_go, 110);
}

void Begin() {
  while (digitalRead(A0));
  while (!digitalRead(A0)) {
    delay(10);
    if (digitalRead(A0) == 0) {
      delay(100);
      while (!digitalRead(A0));
    }
  }
}
void setup() {
  // put your setup code here, to run once:
  pinMode(Left_f, OUTPUT);
  pinMode(Left_s, OUTPUT);
  pinMode(Right_f, OUTPUT);
  pinMode(Right_s, OUTPUT);
  pinMode(Left_go, OUTPUT);
  pinMode(Right_go, OUTPUT);
  pinMode(A0, INPUT);
  pinMode(A2, INPUT);
  pinMode(A1, INPUT);
  pinMode(A3, INPUT);
  pinMode(A4, INPUT);
}

void loop() {
  // put your main code here, to run repeatedly:
  Begin();
  while (1) {
    if (digitalRead(A2) && !digitalRead(A1) && !digitalRead(A3) && digitalRead(A4) ) {
      go_straight();
    }
    else if (digitalRead(A2) && !digitalRead(A1) &&  digitalRead(A3) && digitalRead(A4)) {
      turn_left();
    }
    else if (digitalRead(A2) && digitalRead(A1) && !digitalRead(A3) && digitalRead(A4)) {
      turn_right();
    }
    else if (!digitalRead(A2) && digitalRead(A1) &&  digitalRead(A3) && digitalRead(A4)) {
      turn_left();
    }
    else if (digitalRead(A2) && digitalRead(A1) && digitalRead(A3) && !digitalRead(A4)) {
      turn_right();
    }
    else if (!digitalRead(A2) && !digitalRead(A1) && !digitalRead(A3) && digitalRead(A4)) {
      delay(30);
      turn_left_stop();
    }
    else if (digitalRead(A2) && !digitalRead(A1) && !digitalRead(A3) && !digitalRead(A4)) {
      delay(30);
      turn_right_stop();
    }
    else if (!digitalRead(A2) && !digitalRead(A1) && digitalRead(A3) && digitalRead(A4)) {
      delay(30);
      turn_left_stop();
    }
    else if (!digitalRead(A2) && digitalRead(A1) && !digitalRead(A3) && digitalRead(A4)) {
      delay(30);
      turn_left_stop();
    }
    else   if (!digitalRead(A2) && !digitalRead(A1) && !digitalRead(A3) && digitalRead(A4)) {
      delay(30);
      turn_left_stop();
    }
    else if (digitalRead(A2) && !digitalRead(A1) && digitalRead(A3) && !digitalRead(A4)) {
      delay(30);
      turn_right_stop();
    }
    else  if (digitalRead(A2) && digitalRead(A1) && !digitalRead(A3) && !digitalRead(A4)) {
      delay(30);
      turn_right_stop();
    }
    else  if (digitalRead(A2) && !digitalRead(A1) && !digitalRead(A3) && !digitalRead(A4)) {
      delay(30);
      turn_right_stop();
    }
    else  if (!digitalRead(A2) && !digitalRead(A1) && !digitalRead(A3) && !digitalRead(A4)) {
      go_straight();
    }
  }
}