写一个基于四路红外寻迹的arduino 程序
时间: 2023-03-25 18:01:01 浏览: 71
你好,我可以回答这个问题。以下是一个基于四路红外寻迹的Arduino程序:
int leftPin = 2; // 左传感器引脚
int rightPin = 3; // 右传感器引脚
int middleLeftPin = 4; // 左中传感器引脚
int middleRightPin = 5; // 右中传感器引脚
int leftSpeedPin = 6; // 左电机速度引脚
int leftDirectionPin = 7; // 左电机方向引脚
int rightSpeedPin = 9; // 右电机速度引脚
int rightDirectionPin = 8; // 右电机方向引脚
void setup() {
pinMode(leftPin, INPUT);
pinMode(rightPin, INPUT);
pinMode(middleLeftPin, INPUT);
pinMode(middleRightPin, INPUT);
pinMode(leftSpeedPin, OUTPUT);
pinMode(leftDirectionPin, OUTPUT);
pinMode(rightSpeedPin, OUTPUT);
pinMode(rightDirectionPin, OUTPUT);
}
void loop() {
int leftValue = digitalRead(leftPin);
int rightValue = digitalRead(rightPin);
int middleLeftValue = digitalRead(middleLeftPin);
int middleRightValue = digitalRead(middleRightPin);
if (middleLeftValue == HIGH && middleRightValue == HIGH) { // 直行
digitalWrite(leftDirectionPin, HIGH);
digitalWrite(rightDirectionPin, HIGH);
analogWrite(leftSpeedPin, 200);
analogWrite(rightSpeedPin, 200);
} else if (middleLeftValue == HIGH && middleRightValue == LOW) { // 左偏
digitalWrite(leftDirectionPin, LOW);
digitalWrite(rightDirectionPin, HIGH);
analogWrite(leftSpeedPin, 150);
analogWrite(rightSpeedPin, 150);
} else if (middleLeftValue == LOW && middleRightValue == HIGH) { // 右偏
digitalWrite(leftDirectionPin, HIGH);
digitalWrite(rightDirectionPin, LOW);
analogWrite(leftSpeedPin, 150);
analogWrite(rightSpeedPin, 150);
} else if (leftValue == HIGH && rightValue == LOW) { // 左转
digitalWrite(leftDirectionPin, LOW);
digitalWrite(rightDirectionPin, HIGH);
analogWrite(leftSpeedPin, );
analogWrite(rightSpeedPin, 150);
} else if (leftValue == LOW && rightValue == HIGH) { // 右转
digitalWrite(leftDirectionPin, HIGH);
digitalWrite(rightDirectionPin, LOW);
analogWrite(leftSpeedPin, 150);
analogWrite(rightSpeedPin, );
} else { // 停止
digitalWrite(leftDirectionPin, HIGH);
digitalWrite(rightDirectionPin, HIGH);
analogWrite(leftSpeedPin, );
analogWrite(rightSpeedPin, );
}
}
希望这个程序对你有帮助。
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