基于Arduino的巡线小车

intLeft_motor_go=8;     //左电机前进(IN1)intLeft_motor_back=9;     //左电机后退(IN2)intRight_motor_go=10;    // 右电机前进(IN3)intRight_motor_back=11;    // 右电机后退(IN4)constintSensorRight1=6;     //右循迹红外传感器(P3.2 OUT1)constintSensorRight2=3;    //右循迹红外传感器constintSensorLeft1=4;       //左循迹红外传感器(P3.3 OUT2)constintSensorLeft2=5;       //左循迹红外传感器(P3.3 OUT2)intSL1;    //左循迹红外传感器状态 intSL2;    //左循迹红外传感器状态intSR1;    //右循迹红外传感器状态intSR2;    //右循迹红外传感器状态voidsetup()
{
//初始化电机驱动IO为输出方式pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM)pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM) pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM)//  pinMode(key,INPUT);//定义按键接口为输入接口// pinMode(beep,OUTPUT);pinMode(SensorRight1, INPUT); //定义右循迹红外传感器为输入pinMode(SensorRight2, INPUT);
pinMode(SensorLeft1, INPUT); //定义左循迹红外传感器为输入pinMode(SensorLeft2, INPUT);
}
//=======================智能小车的基本动作=========================voidruns()
{
digitalWrite(Right_motor_go,HIGH);  // 右电机前进digitalWrite(Right_motor_back,LOW);     
analogWrite(Right_motor_go,100);//PWM比例0~255调速，左右轮差异略增减analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW);  // 左电机前进digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减analogWrite(Left_motor_back,100);
//delay(time * 100);   //执行时间，可以调整  }
voidrun()
{
digitalWrite(Right_motor_go,HIGH);  // 右电机前进digitalWrite(Right_motor_back,LOW);     
analogWrite(Right_motor_go,100);//PWM比例0~255调速，左右轮差异略增减analogWrite(Right_motor_back,0);
digitalWrite(Left_motor_go,LOW);  // 左电机前进digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减analogWrite(Left_motor_back,100);
//delay(time * 100);   //执行时间，可以调整  }
//void left(int time)         //左转(左轮不动，右轮前进)voidspin_left()
{
digitalWrite(Right_motor_go,HIGH);  // 右电机前进digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,90); 
analogWrite(Right_motor_back,0);//PWM比例0~255调速digitalWrite(Left_motor_go,HIGH);   //左轮后退digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,75); 
analogWrite(Left_motor_back,0);//PWM比例0~255调速//delay(time * 100);  //执行时间，可以调整  }
voidspin_lefts()
{
digitalWrite(Right_motor_go,HIGH);  // 右电机前进digitalWrite(Right_motor_back,LOW);
analogWrite(Right_motor_go,140.3); 
analogWrite(Right_motor_back,0);//PWM比例0~255调速digitalWrite(Left_motor_go,HIGH);   //左轮后退digitalWrite(Left_motor_back,LOW);
analogWrite(Left_motor_go,0); 
analogWrite(Left_motor_back,140);//PWM比例0~255调速///delay(time * 100);  //执行时间，可以调整  }
//void right(int time)        //右转(右轮不动，左轮前进)voidspin_right()
{
digitalWrite(Right_motor_go,LOW);   //右电机后退digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,0); 
analogWrite(Right_motor_back,75);//PWM比例0~255调速digitalWrite(Left_motor_go,LOW);//左电机前进digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0); 
analogWrite(Left_motor_back,90);//PWM比例0~255调速//delay(time * 100);  //执行时间，可以调整  }
voidspin_rights()
{
digitalWrite(Right_motor_go,LOW);   //右电机后退digitalWrite(Right_motor_back,HIGH);
analogWrite(Right_motor_go,140); 
analogWrite(Right_motor_back,0);//PWM比例0~255调速digitalWrite(Left_motor_go,LOW);//左电机前进digitalWrite(Left_motor_back,HIGH);
analogWrite(Left_motor_go,0); 
analogWrite(Left_motor_back,140.3);//PWM比例0~255调速//delay(time * 100);  //执行时间，可以调整  }
voidloop()
{ 
// keysacn();//调用按键扫描函数  while(1)
  {
//有信号为LOW  没有信号为HIGH   检测到黑线  输出高  检测到白色区域输出低SR1=digitalRead(SensorRight1);//有信号表明在白色区域，车子底板上L1亮；没信号表明压在黑线上，车子底板上L1灭SR2=digitalRead(SensorRight2);
SL1=digitalRead(SensorLeft1);//有信号表明在白色区域，车子底板上L2亮；没信号表明压在黑线上，车子底板上L2灭SL2=digitalRead(SensorLeft2);
if (SL1==LOW&&SL2==LOW&&SR1==LOW&&SR2==LOWorSL2==HIGH&&SL1==HIGH&&SR2==HIGH&&SR1==LOWorSL2==LOW&&SL1==HIGH&&SR2==HIGH&&SR1==HIGHorSL2==LOW&&SL1==HIGH&&SR2==HIGH&&SR1==LOW   )
run();   //调用前进函数elseif (SR1==LOW&&SL2==LOW&&SL1==HIGH&&SR2==LOW)
spin_right();
elseif (SL1==LOW&&SR2==LOW&&SL2==HIGH&&SR1==LOW)
spin_rights();
elseif (SL1==HIGH&&SL2==HIGH&&SR1==LOW&&SR2==LOW)
spin_rights();
elseif (SL1==LOW&&SR1==HIGH&&SR2==LOW&&SL2==LOW) 
spin_lefts();
elseif (SR1==LOW&&SR2==HIGH&&SL2==LOW&&SL1==LOW)
spin_left();
elseif (SL1==LOW&&SL2==LOW&&SR1==HIGH&&SR2==HIGH)
spin_lefts();
elseif (SL1==HIGH&&SL2==HIGH&&SR1==HIGH&&SR2==HIGHorSR1==HIGH&&SR2==LOW&&SL1==HIGH&&SL2==LOWorSL1==LOW&&SL2==HIGH&&SR1==LOW&&SR2==HIGH )
runs();
  }
  }