我的arduino循跡小車源代碼

ID:209686 · 發(fā)表于 2017-6-9 21:47

這是用arduino編寫的循跡小車源代碼
采用的是四路循跡模塊
能根據(jù)黑線的路線循跡
還有抓球舵機(jī)的程序
就不寫了，想要的可以練習(xí)我
QQ 807195506

#define IN1 2
#define IN2 3
#define IN3 4
#define IN4 5
#define ENA 13
#define ENB 12
#define LED1 6
#define LED2 7
#define LED3 8
#define LED4 9
void setup()
{
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
pinMode(LED1,INPUT);
pinMode(LED2,INPUT);
pinMode(LED3,INPUT);
pinMode(LED4,INPUT);
}
void loop()
{
if(digitalRead(LED1)==0&&digitalRead(LED2)==1&&digitalRead(LED3)==1&&digitalRead(LED4)==0)
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(20);
}
if(digitalRead(LED1)==0&&digitalRead(LED2)==0&&digitalRead(LED3)==0&&digitalRead(LED4)==0)
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(20);
}
if(digitalRead(LED1)==0&&digitalRead(LED2)==1&&digitalRead(LED3)==1&&digitalRead(LED4)==1)
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
delay(20);
}
if(digitalRead(LED1)==0&&digitalRead(LED2)==0&&digitalRead(LED3)==1&&digitalRead(LED4)==0)
{
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);
delay(20);
}
if(digitalRead(LED1)==1&&digitalRead(LED2)==1&&digitalRead(LED3)==1&&digitalRead(LED4)==0)
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(20);
}
if(digitalRead(LED1)==0&&digitalRead(LED2)==1&&digitalRead(LED3)==0&&digitalRead(LED4)==0)
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(20);
}
if(digitalRead(LED1)==0&&digitalRead(LED2)==1&&digitalRead(LED3)==0&&digitalRead(LED4)==0)
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(20);
}
if(digitalRead(LED1)==1&&digitalRead(LED2)==1&&digitalRead(LED3)==0&&digitalRead(LED4)==0)
{
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
delay(20);
}
}