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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);
- }
- }
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