arduino循迹小车直角弯代码

对于arduino循迹小车直角弯代码，可以分为两种情况：一种是使用红外线传感器实现循迹，另一种是使用灰度传感器实现循迹。下面我将介绍这两种情况的代码实现。

使用红外线传感器实现循迹：
1. 硬件连接：将4个红外线传感器连接到Arduino的数字引脚上（比如2、3、4、5），同时将左右电机连接到Arduino的PWM引脚上（比如6、9）。
2. 代码实现：（以左右电机都向前运动为例）

int left_motor_pin = 6;
int right_motor_pin = 9;
int left_sensor_pin = 2;
int right_sensor_pin = 3;
int middle_sensor_pin = 4;
int back_sensor_pin = 5;

void setup(){
  pinMode(left_motor_pin, OUTPUT);
  pinMode(right_motor_pin, OUTPUT);
  pinMode(left_sensor_pin, INPUT);
  pinMode(right_sensor_pin, INPUT);
  pinMode(middle_sensor_pin, INPUT);
  pinMode(back_sensor_pin, INPUT);
}

void loop(){
  int left_value = digitalRead(left_sensor_pin);
  int right_value = digitalRead(right_sensor_pin);
  int middle_value = digitalRead(middle_sensor_pin);
  int back_value = digitalRead(back_sensor_pin);

  if(left_value == HIGH && right_value == LOW){  //左偏
    analogWrite(left_motor_pin, 150);
    analogWrite(right_motor_pin, 0);
  }
  else if(left_value == LOW && right_value == HIGH){  //右偏
    analogWrite(left_motor_pin, 0);
    analogWrite(right_motor_pin, 150);
  }
  else if(middle_value == HIGH){  //直行
    analogWrite(left_motor_pin, 150);
    analogWrite(right_motor_pin, 150);
  }
  else if(back_value == HIGH){  //后退
    analogWrite(left_motor_pin, -150);
    analogWrite(right_motor_pin, -150);
    delay(1000);
    analogWrite(left_motor_pin, 0);
    analogWrite(right_motor_pin, 0);
    delay(500);
    analogWrite(left_motor_pin, -150);
    analogWrite(right_motor_pin, 150);
    delay(500);
    analogWrite(left_motor_pin, 0);
    analogWrite(right_motor_pin, 0);
    delay(500);
  }
}

使用灰度传感器实现循迹：
1. 硬件连接：将4个灰度传感器连接到Arduino的模拟引脚上（比如A0、A1、A2、A3），同时将左右电机连接到Arduino的PWM引脚上（比如6、9）。
2. 代码实现：（以左右电机都向前运动为例）

int left_motor_pin = 6;
int right_motor_pin = 9;
int left_sensor_pin = A0;
int right_sensor_pin = A1;
int middle_sensor_pin = A2;
int back_sensor_pin = A3;

void setup(){
  pinMode(left_motor_pin, OUTPUT);
  pinMode(right_motor_pin, OUTPUT);
}

void loop(){
  int left_value = analogRead(left_sensor_pin);
  int right_value = analogRead(right_sensor_pin);
  int middle_value = analogRead(middle_sensor_pin);
  int back_value = analogRead(back_sensor_pin);

  if(left_value < 500 && right_value > 500){  //左偏
    analogWrite(left_motor_pin, 150);
    analogWrite(right_motor_pin, 0);
  }
  else if(left_value > 500 && right_value < 500){  //右偏
    analogWrite(left_motor_pin, 0);
    analogWrite(right_motor_pin, 150);
  }
  else if(middle_value > 500){  //直行
    analogWrite(left_motor_pin, 150);
    analogWrite(right_motor_pin, 150);
  }
  else if(back_value > 500){  //后退
    analogWrite(left_motor_pin, -150);
    analogWrite(right_motor_pin, -150);
    delay(1000);
    analogWrite(left_motor_pin, 0);
    analogWrite(right_motor_pin, 0);
    delay(500);
    analogWrite(left_motor_pin, -150);
    analogWrite(right_motor_pin, 150);
    delay(500);
    analogWrite(left_motor_pin, 0);
    analogWrite(right_motor_pin, 0);
    delay(500);
  }
}