arduino mega2560通过L298N控制4个直流减速电机进行PWM调速和循迹代码

循迹代码：

#define leftSensor A0
#define rightSensor A1

void setup() {
  pinMode(leftSensor, INPUT);
  pinMode(rightSensor, INPUT);
}

void loop() {
  int leftValue = analogRead(leftSensor);
  int rightValue = analogRead(rightSensor);

  if (leftValue > 500 && rightValue > 500) {
    // 直走
  } else if (leftValue <= 500 && rightValue > 500) {
    // 左转
  } else if (leftValue > 500 && rightValue <= 500) {
    // 右转
  } else {
    // 停止
  }
}

PWM调速代码：

#define motor1Pin1 2
#define motor1Pin2 3
#define motor2Pin1 4
#define motor2Pin2 5
#define motor3Pin1 6
#define motor3Pin2 7
#define motor4Pin1 8
#define motor4Pin2 9

void setup() {
  pinMode(motor1Pin1, OUTPUT);
  pinMode(motor1Pin2, OUTPUT);
  pinMode(motor2Pin1, OUTPUT);
  pinMode(motor2Pin2, OUTPUT);
  pinMode(motor3Pin1, OUTPUT);
  pinMode(motor3Pin2, OUTPUT);
  pinMode(motor4Pin1, OUTPUT);
  pinMode(motor4Pin2, OUTPUT);
}

void loop() {
  // 控制电机1
  digitalWrite(motor1Pin1, HIGH);
  digitalWrite(motor1Pin2, LOW);
  analogWrite(motor1SpeedPin, 200);

  // 控制电机2
  digitalWrite(motor2Pin1, HIGH);
  digitalWrite(motor2Pin2, LOW);
  analogWrite(motor2SpeedPin, 100);

  // 控制电机3
  digitalWrite(motor3Pin1, HIGH);
  digitalWrite(motor3Pin2, LOW);
  analogWrite(motor3SpeedPin, 150);

  // 控制电机4
  digitalWrite(motor4Pin1, HIGH);
  digitalWrite(motor4Pin2, LOW);
  analogWrite(motor4SpeedPin, 250);
}