四路循迹锐角代码实现

以下是四路循迹锐角（也称为四路红外线避障）的代码实现，使用 Arduino IDE 编写：

// 定义四路循迹引脚
int leftSensor = 2;
int rightSensor = 3;
int frontSensor = 4;
int backSensor = 5;

// 定义电机引脚
int leftMotor = 6;
int rightMotor = 9;

void setup() {
  // 将四路循迹引脚设为输入模式
  pinMode(leftSensor, INPUT);
  pinMode(rightSensor, INPUT);
  pinMode(frontSensor, INPUT);
  pinMode(backSensor, INPUT);

  // 将电机引脚设为输出模式
  pinMode(leftMotor, OUTPUT);
  pinMode(rightMotor, OUTPUT);
}

void loop() {
  // 读取四路循迹传感器的值
  int leftValue = digitalRead(leftSensor);
  int rightValue = digitalRead(rightSensor);
  int frontValue = digitalRead(frontSensor);
  int backValue = digitalRead(backSensor);

  // 四路循迹均为白色时，直走
  if (leftValue == HIGH && rightValue == HIGH && frontValue == HIGH && backValue == HIGH) {
    digitalWrite(leftMotor, HIGH);
    digitalWrite(rightMotor, HIGH);
  }
  // 左侧有黑色线时，向右转
  else if (leftValue == LOW && rightValue == HIGH) {
    digitalWrite(leftMotor, HIGH);
    digitalWrite(rightMotor, LOW);
  }
  // 右侧有黑色线时，向左转
  else if (leftValue == HIGH && rightValue == LOW) {
    digitalWrite(leftMotor, LOW);
    digitalWrite(rightMotor, HIGH);
  }
  // 前方有黑色线时，向后转
  else if (frontValue == LOW) {
    digitalWrite(leftMotor, LOW);
    digitalWrite(rightMotor, HIGH);
    delay(500);
    digitalWrite(leftMotor, HIGH);
    digitalWrite(rightMotor, HIGH);
    delay(500);
  }
  // 后方有黑色线时，停止
  else if (backValue == LOW) {
    digitalWrite(leftMotor, LOW);
    digitalWrite(rightMotor, LOW);
  }
}

以上代码实现的功能是，当四路循迹传感器检测到黑色线时，车子会向对应方向转动，当四路循迹均为白色时，车子直走。如果前方检测到黑色线，车子会后退一段时间再向右转。如果后方检测到黑色线，车子停止运动。