循迹小车arduino MEGA2560控制电机l258n六路循迹板代码

以下是循迹小车arduino MEGA2560控制电机l258n六路循迹板代码的示例：

//定义引脚
int leftmotor1 = 22;
int leftmotor2 = 23;
int rightmotor1 = 24;
int rightmotor2 = 25;
int leftsensor1 = 2;
int leftsensor2 = 3;
int centersensor = 4;
int rightsensor2 = 5;
int rightsensor1 = 6;

void setup() {
  //设置引脚模式
  pinMode(leftmotor1, OUTPUT);
  pinMode(leftmotor2, OUTPUT);
  pinMode(rightmotor1, OUTPUT);
  pinMode(rightmotor2, OUTPUT);
  pinMode(leftsensor1, INPUT);
  pinMode(leftsensor2, INPUT);
  pinMode(centersensor, INPUT);
  pinMode(rightsensor2, INPUT);
  pinMode(rightsensor1, INPUT);
}

void loop() {
  //读取传感器值
  int left1 = digitalRead(leftsensor1);
  int left2 = digitalRead(leftsensor2);
  int center = digitalRead(centersensor);
  int right2 = digitalRead(rightsensor2);
  int right1 = digitalRead(rightsensor1);

  //判断传感器值，控制电机
  if (center == HIGH) {
    digitalWrite(leftmotor1, HIGH);
    digitalWrite(leftmotor2, LOW);
    digitalWrite(rightmotor1, HIGH);
    digitalWrite(rightmotor2, LOW);
  } else if (left1 == HIGH && left2 == LOW) {
    digitalWrite(leftmotor1, LOW);
    digitalWrite(leftmotor2, HIGH);
    digitalWrite(rightmotor1, HIGH);
    digitalWrite(rightmotor2, LOW);
  } else if (right1 == HIGH && right2 == LOW) {
    digitalWrite(leftmotor1, HIGH);
    digitalWrite(leftmotor2, LOW);
    digitalWrite(rightmotor1, LOW);
    digitalWrite(rightmotor2, HIGH);
  } else if (left2 == HIGH && right2 == HIGH) {
    digitalWrite(leftmotor1, LOW);
    digitalWrite(leftmotor2, HIGH);
    digitalWrite(rightmotor1, LOW);
    digitalWrite(rightmotor2, HIGH);
  } else if (left1 == LOW && right1 == LOW) {
    digitalWrite(leftmotor1, LOW);
    digitalWrite(leftmotor2, LOW);
    digitalWrite(rightmotor1, LOW);
    digitalWrite(rightmotor2, LOW);
  }
}