帮我写一段智能小车巡线的代码
时间: 2023-05-30 10:05:55 浏览: 55
以下是一段智能小车巡线的示例代码:
```
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_MS_PWMServoDriver.h"
// Define constants for the line sensors
const int LEFT_SENSOR = A0;
const int MIDDLE_SENSOR = A1;
const int RIGHT_SENSOR = A2;
// Define constants for the motors
const int MOTOR_SPEED = 200;
const int MOTOR_ACCELERATION = 100;
const int LEFT_MOTOR = 1;
const int RIGHT_MOTOR = 2;
// Create an instance of the Adafruit Motor Shield library
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *leftMotor = AFMS.getMotor(LEFT_MOTOR);
Adafruit_DCMotor *rightMotor = AFMS.getMotor(RIGHT_MOTOR);
void setup() {
AFMS.begin(); // Initialize the motor shield
Wire.begin(); // Initialize the I2C bus
Serial.begin(9600); // Initialize the serial communication
}
void loop() {
int leftValue = analogRead(LEFT_SENSOR);
int middleValue = analogRead(MIDDLE_SENSOR);
int rightValue = analogRead(RIGHT_SENSOR);
// If all sensors detect black, the car is off the line
if (leftValue < 500 && middleValue < 500 && rightValue < 500) {
stop();
delay(1000);
return;
}
// If the middle sensor detects black, move forward
if (middleValue < 500) {
forward();
return;
}
// If the left sensor detects black, turn left
if (leftValue < 500) {
turnLeft();
return;
}
// If the right sensor detects black, turn right
if (rightValue < 500) {
turnRight();
return;
}
}
void forward() {
leftMotor->setSpeed(MOTOR_SPEED);
rightMotor->setSpeed(MOTOR_SPEED);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
leftMotor->run(FORWARD);
rightMotor->run(FORWARD);
}
void turnLeft() {
leftMotor->setSpeed(MOTOR_SPEED);
rightMotor->setSpeed(MOTOR_SPEED);
leftMotor->run(BACKWARD);
rightMotor->run(FORWARD);
delay(1000);
}
void turnRight() {
leftMotor->setSpeed(MOTOR_SPEED);
rightMotor->setSpeed(MOTOR_SPEED);
leftMotor->run(FORWARD);
rightMotor->run(BACKWARD);
delay(1000);
}
void stop() {
leftMotor->setSpeed(0);
rightMotor->setSpeed(0);
leftMotor->run(RELEASE);
rightMotor->run(RELEASE);
}
```
该代码使用了三个光线传感器来检测小车的位置,如果小车偏离了线路,它将根据传感器的读数调整其方向。如果所有的传感器都检测到了黑色,小车会停下来。如果中间的传感器检测到了黑色,小车会继续向前移动。如果左侧的传感器检测到了黑色,小车会向左转。如果右侧的传感器检测到了黑色,小车会向右转。在每种情况下,小车都会调整其速度和方向,以保持在线路上行驶。