红外循迹小车直角转弯代码

以下是红外循迹小车直角转弯的代码示例：

//定义左右电机引脚
int leftMotor1 = 5;
int leftMotor2 = 6;
int rightMotor1 = 10;
int rightMotor2 = 9;

//定义红外传感器引脚
int leftSensor = A0;
int middleSensor = A1;
int rightSensor = A2;
int backSensor = A3;

//定义红外传感器检测到黑线的阈值
int threshold = 500;

void setup() {
  //初始化电机引脚为输出模式
  pinMode(leftMotor1, OUTPUT);
  pinMode(leftMotor2, OUTPUT);
  pinMode(rightMotor1, OUTPUT);
  pinMode(rightMotor2, OUTPUT);
}

void loop() {
  //读取红外传感器的值
  int leftValue = analogRead(leftSensor);
  int middleValue = analogRead(middleSensor);
  int rightValue = analogRead(rightSensor);
  int backValue = analogRead(backSensor);

  //判断是否在黑线上
  if (middleValue > threshold) {
    //直行
    digitalWrite(leftMotor1, HIGH);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, HIGH);
    digitalWrite(rightMotor2, LOW);
  } else if (leftValue > threshold && rightValue < threshold) {
    //左转
    digitalWrite(leftMotor1, LOW);
    digitalWrite(leftMotor2, HIGH);
    digitalWrite(rightMotor1, HIGH);
    digitalWrite(rightMotor2, LOW);
  } else if (leftValue < threshold && rightValue > threshold) {
    //右转
    digitalWrite(leftMotor1, HIGH);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, LOW);
    digitalWrite(rightMotor2, HIGH);
  } else if (backValue > threshold) {
    //后退
    digitalWrite(leftMotor1, LOW);
    digitalWrite(leftMotor2, HIGH);
    digitalWrite(rightMotor1, LOW);
    digitalWrite(rightMotor2, HIGH);
    delay(500);
    //左转
    digitalWrite(leftMotor1, LOW);
    digitalWrite(leftMotor2, HIGH);
    digitalWrite(rightMotor1, HIGH);
    digitalWrite(rightMotor2, LOW);
    delay(500);
  } else {
    //停止
    digitalWrite(leftMotor1, LOW);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, LOW);
    digitalWrite(rightMotor2, LOW);
  }
}