循迹小车代码

以下是一个简单的循迹小车代码，使用Arduino Uno和红外线传感器实现：

int leftMotor1 = 5;
int leftMotor2 = 6;
int rightMotor1 = 9;
int rightMotor2 = 10;

int leftSensor = A0;
int rightSensor = A1;

void setup() {
  pinMode(leftMotor1, OUTPUT);
  pinMode(leftMotor2, OUTPUT);
  pinMode(rightMotor1, OUTPUT);
  pinMode(rightMotor2, OUTPUT);
}

void loop() {
  int leftReading = analogRead(leftSensor);
  int rightReading = analogRead(rightSensor);

  if (leftReading < 500 && rightReading < 500) {
    // Both sensors off the line, stop
    digitalWrite(leftMotor1, LOW);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, LOW);
    digitalWrite(rightMotor2, LOW);
  } else if (leftReading < 500) {
    // Left sensor off the line, turn right
    digitalWrite(leftMotor1, HIGH);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, LOW);
    digitalWrite(rightMotor2, HIGH);
  } else if (rightReading < 500) {
    // Right sensor off the line, turn left
    digitalWrite(leftMotor1, LOW);
    digitalWrite(leftMotor2, HIGH);
    digitalWrite(rightMotor1, HIGH);
    digitalWrite(rightMotor2, LOW);
  } else {
    // Both sensors on the line, go straight
    digitalWrite(leftMotor1, HIGH);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, HIGH);
    digitalWrite(rightMotor2, LOW);
  }
}

该代码使用两个红外线传感器检测小车是否在黑线上，如果左边的传感器检测到黑线，小车就会向左转，如果右边的传感器检测到黑线，小车就会向右转，如果两个传感器都检测到黑线，小车就会直线前进。