arduino循迹小车

int MotorRight1=14;

int MotorRight2=15;

int MotorLeft1=16;

int MotorLeft2=17;

int MotorRPWM=3;

int MotorLPWM=5;

const int SensorLeft = 2;      //左感测器輸入腳

//const int SensorMiddle= 4 ;    //中感测器輸入腳

const int SensorRight = 6;     //右感测器輸入腳

int SL;    //左感测器狀態

//int SM;    //中感测器狀態

int SR;    //右感测器狀態

void setup()

{

  Serial.begin(9600);

  pinMode(MotorRight1, OUTPUT);  // 腳位 14 (PWM)

  pinMode(MotorRight2, OUTPUT);  // 腳位 15 (PWM)

  pinMode(MotorLeft1,  OUTPUT);  // 腳位 16 (PWM)

  pinMode(MotorLeft2,  OUTPUT);  // 腳位 17 (PWM)

  pinMode(MotorLPWM,  OUTPUT);  // 腳位 3 (PWM)

  pinMode(MotorRPWM,  OUTPUT);  // 腳位 5 (PWM)

  pinMode(SensorLeft, INPUT); //定義左感测器

 //   pinMode(SensorMiddle, INPUT);//定義中感测器

  pinMode(SensorRight, INPUT); //定義右感测器

}

void loop()

 {

 SL = digitalRead(SensorLeft);

 // SM = digitalRead(SensorMiddle);

 SR = digitalRead(SensorRight);

       if (SL == LOW&&SR==LOW)//

   {

             digitalWrite(MotorRight1,HIGH);

             digitalWrite(MotorRight2,LOW);

             analogWrite(MotorRPWM,150);

             digitalWrite(MotorLeft1,HIGH);

             digitalWrite(MotorLeft2,LOW);

             analogWrite(MotorLPWM,150);

         }

       else //

      {

         if (SL == HIGH & SR == LOW)// 左黑右白, 高速左轉

        {

            delay(1);

            digitalWrite(MotorRight1,HIGH);

            digitalWrite(MotorRight2,LOW);

            analogWrite(MotorRPWM,130);

            digitalWrite(MotorLeft1,LOW);

            digitalWrite(MotorLeft2,LOW);

        }

         else if (SR == HIGH & SL == LOW) // 左白右黑, 高速右轉

        {

          delay(1);

          digitalWrite(MotorRight1,LOW);

           digitalWrite(MotorRight2,LOW);

           digitalWrite(MotorLeft1,HIGH);

           digitalWrite(MotorLeft2,LOW);

           analogWrite(MotorLPWM,130);

        }

         else // 都是白色, 停止

        {

        digitalWrite(MotorRight1,LOW);

        digitalWrite(MotorRight2,LOW);

        digitalWrite(MotorLeft1,LOW);

        digitalWrite(MotorLeft2,LOW);;

        }}}