Arduino UNO 2灰度传感器，4电机小车循迹代码

以下是Arduino UNO使用2个灰度传感器和4个电机的小车循迹代码：

//定义引脚
int leftSensor = A0;
int rightSensor = A1;
int leftMotor1 = 6;
int leftMotor2 = 5;
int rightMotor1 = 9;
int rightMotor2 = 10;

//定义阈值
int threshold = 500;

void setup() {
  //设置引脚模式
  pinMode(leftSensor, INPUT);
  pinMode(rightSensor, INPUT);
  pinMode(leftMotor1, OUTPUT);
  pinMode(leftMotor2, OUTPUT);
  pinMode(rightMotor1, OUTPUT);
  pinMode(rightMotor2, OUTPUT);

  //初始化串口
  Serial.begin(9600);
}

void loop() {
  //读取传感器值
  int leftValue = analogRead(leftSensor);
  int rightValue = analogRead(rightSensor);

  //输出传感器值
  Serial.print("Left Sensor Value: ");
  Serial.print(leftValue);
  Serial.print(" Right Sensor Value: ");
  Serial.println(rightValue);

  //判断传感器值是否超过阈值
  if (leftValue > threshold && rightValue > threshold) {
    //直线行驶
    digitalWrite(leftMotor1, HIGH);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, HIGH);
    digitalWrite(rightMotor2, LOW);
  } else if (leftValue > threshold && rightValue < threshold) {
    //右转
    digitalWrite(leftMotor1, HIGH);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, LOW);
    digitalWrite(rightMotor2, HIGH);
  } else if (leftValue < threshold && rightValue > threshold) {
    //左转
    digitalWrite(leftMotor1, LOW);
    digitalWrite(leftMotor2, HIGH);
    digitalWrite(rightMotor1, HIGH);
    digitalWrite(rightMotor2, LOW);
  } else {
    //停车
    digitalWrite(leftMotor1, LOW);
    digitalWrite(leftMotor2, LOW);
    digitalWrite(rightMotor1, LOW);
    digitalWrite(rightMotor2, LOW);
  }
}

注：灰度传感器读取的值在黑线区域较小，在白线区域较大，可以根据实际情况调整阈值。同时，电机的正反转由具体电路实现，这里只是示例代码。