帮我写一段 在arduino ide上用c语言代码驱动4驱电机小车，利用6路循迹模块

以下是一段基于Arduino IDE和C语言的代码，可用于驱动4驱电机小车并利用6路循迹模块：

// 定义引脚
#define LEFT_FORWARD 2
#define LEFT_BACKWARD 3
#define RIGHT_FORWARD 4
#define RIGHT_BACKWARD 5

#define TRACK_SENSOR_1 A0
#define TRACK_SENSOR_2 A1
#define TRACK_SENSOR_3 A2
#define TRACK_SENSOR_4 A3
#define TRACK_SENSOR_5 A4
#define TRACK_SENSOR_6 A5

// 定义循迹传感器阈值
#define THRESHOLD 500

void setup() {
  // 设置电机引脚为输出
  pinMode(LEFT_FORWARD, OUTPUT);
  pinMode(LEFT_BACKWARD, OUTPUT);
  pinMode(RIGHT_FORWARD, OUTPUT);
  pinMode(RIGHT_BACKWARD, OUTPUT);

  // 设置循迹传感器引脚为输入
  pinMode(TRACK_SENSOR_1, INPUT);
  pinMode(TRACK_SENSOR_2, INPUT);
  pinMode(TRACK_SENSOR_3, INPUT);
  pinMode(TRACK_SENSOR_4, INPUT);
  pinMode(TRACK_SENSOR_5, INPUT);
  pinMode(TRACK_SENSOR_6, INPUT);
}

void loop() {
  // 读取循迹传感器数据
  int sensor1 = analogRead(TRACK_SENSOR_1);
  int sensor2 = analogRead(TRACK_SENSOR_2);
  int sensor3 = analogRead(TRACK_SENSOR_3);
  int sensor4 = analogRead(TRACK_SENSOR_4);
  int sensor5 = analogRead(TRACK_SENSOR_5);
  int sensor6 = analogRead(TRACK_SENSOR_6);

  // 判断循迹传感器数据
  if (sensor3 > THRESHOLD) {  // 直行
    digitalWrite(LEFT_FORWARD, HIGH);
    digitalWrite(LEFT_BACKWARD, LOW);
    digitalWrite(RIGHT_FORWARD, HIGH);
    digitalWrite(RIGHT_BACKWARD, LOW);
  } else if (sensor2 > THRESHOLD) {  // 左转
    digitalWrite(LEFT_FORWARD, LOW);
    digitalWrite(LEFT_BACKWARD, HIGH);
    digitalWrite(RIGHT_FORWARD, HIGH);
    digitalWrite(RIGHT_BACKWARD, LOW);
  } else if (sensor4 > THRESHOLD) {  // 右转
    digitalWrite(LEFT_FORWARD, HIGH);
    digitalWrite(LEFT_BACKWARD, LOW);
    digitalWrite(RIGHT_FORWARD, LOW);
    digitalWrite(RIGHT_BACKWARD, HIGH);
  } else if (sensor1 > THRESHOLD) {  // 左转弯
    digitalWrite(LEFT_FORWARD, LOW);
    digitalWrite(LEFT_BACKWARD, HIGH);
    digitalWrite(RIGHT_FORWARD, HIGH);
    digitalWrite(RIGHT_BACKWARD, LOW);
  } else if (sensor6 > THRESHOLD) {  // 右转弯
    digitalWrite(LEFT_FORWARD, HIGH);
    digitalWrite(LEFT_BACKWARD, LOW);
    digitalWrite(RIGHT_FORWARD, LOW);
    digitalWrite(RIGHT_BACKWARD, HIGH);
  } else {  // 停止
    digitalWrite(LEFT_FORWARD, LOW);
    digitalWrite(LEFT_BACKWARD, LOW);
    digitalWrite(RIGHT_FORWARD, LOW);
    digitalWrite(RIGHT_BACKWARD, LOW);
  }
}

这段代码中，首先定义了4个电机引脚和6个循迹传感器引脚，并设置它们的输入输出模式。然后在 `loop()` 函数中，通过 `analogRead()` 函数读取循迹传感器的数据，并根据数据的大小判断小车应该做出的动作。最后使用 `digitalWrite()` 函数控制电机的正反转和停止。