arduino四轮循迹小车pwn代码

以下是一个简单的基于 Arduino 的四轮循迹小车 PWM 代码：

int IN1 = 9; //定义IN1引脚为9
int IN2 = 8; //定义IN2引脚为8
int IN3 = 7; //定义IN3引脚为7
int IN4 = 6; //定义IN4引脚为6
int PWMA = 10; //定义PWM A引脚为10
int PWMB = 5; //定义PWM B引脚为5

void setup() {
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(PWMA, OUTPUT);
  pinMode(PWMB, OUTPUT);
}

void loop() {
  //读取四个循迹模块的状态
  int left1 = digitalRead(A0);
  int left2 = digitalRead(A1);
  int right1 = digitalRead(A2);
  int right2 = digitalRead(A3);

  if (left1 == LOW && left2 == LOW && right1 == LOW && right2 == LOW) {  //四个传感器都在黑线上
    //小车直行
    analogWrite(PWMA, 200);
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    analogWrite(PWMB, 200);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, LOW);
  } else if (left1 == LOW && left2 == HIGH && right1 == LOW && right2 == LOW) { //左边检测到黑线
    //小车左转
    analogWrite(PWMA, 150);
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, HIGH);
    analogWrite(PWMB, 150);
    digitalWrite(IN3, HIGH);
    digitalWrite(IN4, LOW);
  } else if (left1 == LOW && left2 == LOW && right1 == LOW && right2 == HIGH) { //右边检测到黑线
    //小车右转
    analogWrite(PWMA, 150);
    digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    analogWrite(PWMB, 150);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, HIGH);
  } else if (left1 == LOW && left2 == HIGH && right1 == LOW && right2 == HIGH) { //左右都检测到黑线
    //小车后退
    analogWrite(PWMA, 200);
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, HIGH);
    analogWrite(PWMB, 200);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, HIGH);
  } else { //四个传感器都不在黑线上
    //小车停止
    analogWrite(PWMA, 0);
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    analogWrite(PWMB, 0);
    digitalWrite(IN3, LOW);
    digitalWrite(IN4, LOW);
  }
}

这里使用了四个循迹模块，分别连接到A0~A3引脚，并通过digitalRead()函数读取它们的状态。根据状态的不同，控制小车的PWM输出和电机方向，从而实现不同的运动方式。需要注意的是，这只是一个简单的示例代码，具体的实现还需要根据硬件电路和传感器的具体情况进行调整。