使用Arduino代码,请根据如下描述,设计出控制智能小车运动的代码: 1)环境设计:地面上粘上约1.5米的L型黑色胶带(长边1米,短边0.5米) (2)请装配相关传感器模块,并撰写程序控制轮式机器人,让机器人从胶带的一端开始行走,并在长短边转角处转弯,并停止于胶带末端。
时间: 2024-05-15 17:14:55 浏览: 10
以下是一个简单的Arduino代码,用于控制智能小车在L型黑色胶带上行走:
```
#define leftMotorPin1 2
#define leftMotorPin2 3
#define rightMotorPin1 4
#define rightMotorPin2 5
#define leftSensorPin A0
#define rightSensorPin A1
void setup() {
pinMode(leftMotorPin1, OUTPUT);
pinMode(leftMotorPin2, OUTPUT);
pinMode(rightMotorPin1, OUTPUT);
pinMode(rightMotorPin2, OUTPUT);
pinMode(leftSensorPin, INPUT);
pinMode(rightSensorPin, INPUT);
}
void loop() {
int leftSensorValue = digitalRead(leftSensorPin);
int rightSensorValue = digitalRead(rightSensorPin);
if (leftSensorValue == HIGH && rightSensorValue == HIGH) { // both sensors on black line
moveForward();
} else if (leftSensorValue == LOW && rightSensorValue == HIGH) { // left sensor off black line
turnLeft();
} else if (leftSensorValue == HIGH && rightSensorValue == LOW) { // right sensor off black line
turnRight();
} else { // both sensors off black line
stopMoving();
}
}
void moveForward() {
digitalWrite(leftMotorPin1, HIGH);
digitalWrite(leftMotorPin2, LOW);
digitalWrite(rightMotorPin1, HIGH);
digitalWrite(rightMotorPin2, LOW);
}
void turnLeft() {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, LOW);
digitalWrite(rightMotorPin1, HIGH);
digitalWrite(rightMotorPin2, LOW);
}
void turnRight() {
digitalWrite(leftMotorPin1, HIGH);
digitalWrite(leftMotorPin2, LOW);
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, LOW);
}
void stopMoving() {
digitalWrite(leftMotorPin1, LOW);
digitalWrite(leftMotorPin2, LOW);
digitalWrite(rightMotorPin1, LOW);
digitalWrite(rightMotorPin2, LOW);
}
```
该代码使用两个光敏传感器模块检测L型黑色胶带,并根据传感器读数控制电机以使小车沿着黑色胶带行驶。如果两个传感器都在黑线上,小车向前移动;如果左传感器离开黑线,小车向左转;如果右传感器离开黑线,则小车向右转;如果两个传感器都离开黑线,则小车停止移动。
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