arduino智能循迹小车代码（三个循迹模块）
#include <Servo.h> int leftMotor1 = 3; int leftMotor2 = 5; int rightMotor1 = 6; int rightMotor2 = 11; int sum=0; void setup() { Serial.begin(9600); pinMode(leftMotor1, OUTPUT); pinMode(leftMotor2, OUTPUT); pinMode(rightMotor1, OUTPUT); pinMode(rightMotor2, OUTPUT); pinMode(A0, INPUT); pinMode(A1, INPUT); pinMode(A2, INPUT); } void loop() { tracing(); } void tracing() { int data[4]; data[0]=analogRead(A0); data[1]=analogRead(A1); data[2]=analogRead(A2); if(data[0]<210&&data[1]>500&&data[2]<210)//向前走 { analogWrite(3,100); analogWrite(5,0); analogWrite(6,100); analogWrite(11,0); } if(data[0]>500 &&data[1]<210 && data[2]<210) // 小车偏左 { analogWrite(3,0); analogWrite(5,0); analogWrite(6,120); analogWrite(11,0); } if(data[0]>500&&data[1]>500&&data[2]<210) //小车偏大左 { analogWrite(3,0); analogWrite(5,120); analogWrite(6,120); analogWrite(11,0); } if(data[0]<210&&(data[1]-30)<210&&data[2]>500) //小车偏右 { analogWrite(3,120); analogWrite(5,0); analogWrite(6,0); analogWrite(11,0); } if(data[0]<210&&data[1]>500&&data[2]>500) //小车偏大右 { analogWrite(3,120); analogWrite(5,0); analogWrite(6,0); analogWrite(11,120); } if(data[0]>500&&data[1]>500&&data[2]>500) //左右都检测到黑线是停止 { analogWrite(3,0); analogWrite(5,0); analogWrite(6,0); analogWrite(11,0); } Serial.print(data[0]); Serial.print("---"); Serial.print(data[1]-30); Serial.print("---"); Serial.print(data[2]); Serial.print("---"); Serial.println(data[3]); }
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