五路红外对管PID巡线的代码

以下是一个使用五路红外对管进行PID巡线的示例：

#include <Wire.h>

#define KP 0.5  // 比例常数
#define KD 0.2  // 微分常数
#define KI 0.1  // 积分常数

#define LEFT_SENSOR_PIN A0
#define MID_LEFT_SENSOR_PIN A1
#define CENTER_SENSOR_PIN A2
#define MID_RIGHT_SENSOR_PIN A3
#define RIGHT_SENSOR_PIN A4

#define MOTOR_PIN1 5
#define MOTOR_PIN2 6

int prev_error = 0;
int integral = 0;

void setup() {
  pinMode(LEFT_SENSOR_PIN, INPUT);
  pinMode(MID_LEFT_SENSOR_PIN, INPUT);
  pinMode(CENTER_SENSOR_PIN, INPUT);
  pinMode(MID_RIGHT_SENSOR_PIN, INPUT);
  pinMode(RIGHT_SENSOR_PIN, INPUT);
  
  pinMode(MOTOR_PIN1, OUTPUT);
  pinMode(MOTOR_PIN2, OUTPUT);
  
  Serial.begin(9600);
}

void loop() {
  int left = analogRead(LEFT_SENSOR_PIN);
  int mid_left = analogRead(MID_LEFT_SENSOR_PIN);
  int center = analogRead(CENTER_SENSOR_PIN);
  int mid_right = analogRead(MID_RIGHT_SENSOR_PIN);
  int right = analogRead(RIGHT_SENSOR_PIN);

  int error = (left * -2 + mid_left * -1 + center * 0 + mid_right * 1 + right * 2) / (left + mid_left + center + mid_right + right);

  int motor_speed = KP * error + KD * (error - prev_error) + KI * integral;
  
  prev_error = error;
  integral += error;
  
  // 控制电机转动方向
  if (motor_speed > 0) {
    digitalWrite(MOTOR_PIN1, HIGH);
    digitalWrite(MOTOR_PIN2, LOW);
  } else {
    digitalWrite(MOTOR_PIN1, LOW);
    digitalWrite(MOTOR_PIN2, HIGH);
  }
  
  // 控制电机转动速度
  analogWrite(MOTOR_PIN1, abs(motor_speed));
  analogWrite(MOTOR_PIN2, abs(motor_speed));
  
  delay(10);
}

这段代码中，使用了五个红外对管来进行巡线。通过读取每个红外对管的模拟值，计算出巡线的误差值。然后使用PID控制算法调整电机的转动方向和速度，使得机器能够沿着黑线巡线。

注意，代码中的KP、KD和KI分别代表比例、微分和积分常数，可以根据实际情况进行调整。此外，代码中的引脚定义和电机控制部分需要根据具体的硬件连接和控制方式进行修改。