arduino超声波避障小车代码

以下是一个基本的Arduino超声波避障小车代码：

#include <NewPing.h>

#define TRIG_PIN 12
#define ECHO_PIN 11
#define MAX_DISTANCE 200

#define LEFT_MOTOR_PIN1 6
#define LEFT_MOTOR_PIN2 7
#define RIGHT_MOTOR_PIN1 8
#define RIGHT_MOTOR_PIN2 9

NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);

void setup() {
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
  pinMode(LEFT_MOTOR_PIN1, OUTPUT);
  pinMode(LEFT_MOTOR_PIN2, OUTPUT);
  pinMode(RIGHT_MOTOR_PIN1, OUTPUT);
  pinMode(RIGHT_MOTOR_PIN2, OUTPUT);
}

void goForward() {
  digitalWrite(LEFT_MOTOR_PIN1, HIGH);
  digitalWrite(LEFT_MOTOR_PIN2, LOW);
  digitalWrite(RIGHT_MOTOR_PIN1, HIGH);
  digitalWrite(RIGHT_MOTOR_PIN2, LOW);
}

void goBackward() {
  digitalWrite(LEFT_MOTOR_PIN1, LOW);
  digitalWrite(LEFT_MOTOR_PIN2, HIGH);
  digitalWrite(RIGHT_MOTOR_PIN1, LOW);
  digitalWrite(RIGHT_MOTOR_PIN2, HIGH);
}

void turnLeft() {
  digitalWrite(LEFT_MOTOR_PIN1, LOW);
  digitalWrite(LEFT_MOTOR_PIN2, HIGH);
  digitalWrite(RIGHT_MOTOR_PIN1, HIGH);
  digitalWrite(RIGHT_MOTOR_PIN2, LOW);
}

void turnRight() {
  digitalWrite(LEFT_MOTOR_PIN1, HIGH);
  digitalWrite(LEFT_MOTOR_PIN2, LOW);
  digitalWrite(RIGHT_MOTOR_PIN1, LOW);
  digitalWrite(RIGHT_MOTOR_PIN2, HIGH);
}

void stop() {
  digitalWrite(LEFT_MOTOR_PIN1, LOW);
  digitalWrite(LEFT_MOTOR_PIN2, LOW);
  digitalWrite(RIGHT_MOTOR_PIN1, LOW);
  digitalWrite(RIGHT_MOTOR_PIN2, LOW);
}

void loop() {
  unsigned int distance = sonar.ping_cm();
  
  if (distance <= 10) {
    stop();
    delay(500);
    turnLeft();
    delay(500);
  }
  else {
    goForward();
  }
}

这个代码使用了NewPing库来测量超声波距离，并根据距离来控制小车的行动。如果距离小于等于10厘米，则停止并向左转500毫秒，否则向前行驶。小车的行动通过设置电机的引脚状态来实现。