mixly小车避障循迹代码

Mixly小车避障循迹代码，是用于控制小车进行避障和循迹的代码。以下是一个简单的代码示例，仅供参考：

#include <MsTimer2.h>
int enA = 6;
int in1 = 7;
int in2 = 8;
int enB = 11;
int in3 = 9;
int in4 = 10;
int sensorPin1 = A0; 
int sensorPin2 = A1; 
int sensorPin3 = A2; 
int sensorPin4 = A3; 
int sensorPin5 = A4; 
int leftSpeed, rightSpeed;
void setup() {
  pinMode(enA, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);
  pinMode(sensorPin1, INPUT);
  pinMode(sensorPin2, INPUT);
  pinMode(sensorPin3, INPUT);
  pinMode(sensorPin4, INPUT);
  pinMode(sensorPin5, INPUT);
  MsTimer2::set(20, control); 
  MsTimer2::start(); 
}
void loop() {
}
void control() { 
  int sensorValue1 = digitalRead(sensorPin1); 
  int sensorValue2 = digitalRead(sensorPin2); 
  int sensorValue3 = digitalRead(sensorPin3); 
  int sensorValue4 = digitalRead(sensorPin4); 
  int sensorValue5 = digitalRead(sensorPin5); 
  leftSpeed = 200;
  rightSpeed = 200;
  if (sensorValue3 == LOW) { 
    leftSpeed = -100; 
    rightSpeed = -100;
    delay(300);  
    leftSpeed = -100; 
    rightSpeed = 100; 
    delay(500);  
    } else if (sensorValue2 == LOW) { 
    leftSpeed = -100; 
    rightSpeed = -100;
    delay(300);  
    leftSpeed = -100; 
    rightSpeed = 100; 
    delay(500);  
    } else if (sensorValue4 == LOW) { 
    leftSpeed = -100; 
    rightSpeed = -100;
    delay(300);  
    leftSpeed = 100; 
    rightSpeed = -100; 
    delay(500);  
    } else if (sensorValue1 == LOW) { 
    leftSpeed = -100; 
    rightSpeed = -100;
    delay(300);  
    leftSpeed = 100; 
    rightSpeed = -100; 
    delay(500);  
    } else if (sensorValue5 == LOW) { 
    leftSpeed = -100; 
    rightSpeed = -100;
    delay(300);  
    leftSpeed = -100; 
    rightSpeed = -100; 
    delay(500);  
  } else {  
    leftSpeed = 200;
    rightSpeed = 200;
  }
  analogWrite(enA, abs(leftSpeed));  
  digitalWrite(in1, leftSpeed > 0 ? HIGH : LOW);  
  digitalWrite(in2, leftSpeed > 0 ? LOW : HIGH);
  analogWrite(enB, abs(rightSpeed));  
  digitalWrite(in3, rightSpeed > 0 ? HIGH : LOW);  
  digitalWrite(in4, rightSpeed > 0 ? LOW : HIGH);  
}

这段代码的功能是通过5个红外线传感器读取地面的黑线情况，根据读取结果实现小车的避障和循迹。如果传感器检测到了黑线，小车会做出相应的避障或者循迹动作。