int Left_motor_go=8;? ???//左電機前進(IN1)

int Left_motor_back=9;? ???//左電機后退(IN2)

int Right_motor_go=10;? ? // 右電機前進(IN3)

int Right_motor_back=11;? ? // 右電機后退(IN4)

int key=A2;//定義按鍵 數字A2 接口

int beep=A3;//定義蜂鳴器 數字A3 接口

const int SensorRight = 3;? ?? ?? ???//右循跡紅外傳感器(P3.2 OUT1)

const int SensorLeft = 4;? ?? ?? ?? ? //左循跡紅外傳感器(P3.3 OUT2)

int SL;? ? //左循跡紅外傳感器狀態

int SR;? ? //右循跡紅外傳感器狀態

void setup()

{

//初始化電機驅動IO為輸出方式

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);//定義按鍵接口為輸入接口

pinMode(beep,OUTPUT);

pinMode(SensorRight, INPUT); //定義右循跡紅外傳感器為輸入

pinMode(SensorLeft, INPUT); //定義左循跡紅外傳感器為輸入

}

//=======================智能小車的基本動作=========================

//void run(int time)? ???// 前進

void run()

{

digitalWrite(Right_motor_go,HIGH);??// 右電機前進

digitalWrite(Right_motor_back,LOW);

analogWrite(Right_motor_go,60);//PWM比例0~255調速，左右輪差異略增減

analogWrite(Right_motor_back,0);

digitalWrite(Left_motor_go,LOW);??// 左電機前進

digitalWrite(Left_motor_back,HIGH);

analogWrite(Left_motor_go,0);//PWM比例0~255調速，左右輪差異略增減

analogWrite(Left_motor_back,60);

//delay(time * 100);? ?//執行時間，可以調整

}

//void brake(int time)??//剎車，停車

void brake()

{

digitalWrite(Right_motor_go,LOW);

digitalWrite(Right_motor_back,LOW);

digitalWrite(Left_motor_go,LOW);

digitalWrite(Left_motor_back,LOW);

//delay(time * 100);//執行時間，可以調整

}

//void left(int time)? ?? ?? ?//左轉(左輪不動，右輪前進)

void left()

{

digitalWrite(Right_motor_go,HIGH);? ?? ???// 右電機前進

digitalWrite(Right_motor_back,LOW);

analogWrite(Right_motor_go,60);

analogWrite(Right_motor_back,0);//PWM比例0~255調速

digitalWrite(Left_motor_go,LOW);? ?//左輪后退

digitalWrite(Left_motor_back,LOW);

analogWrite(Left_motor_go,0);

analogWrite(Left_motor_back,0);//PWM比例0~255調速

//delay(time * 100);? ?? ???//執行時間，可以調整

}

void spin_left()? ?? ?? ?//左轉(左輪后退，右輪前進)

{

digitalWrite(Right_motor_go,HIGH);? ?? ???// 右電機前進

digitalWrite(Right_motor_back,LOW);

analogWrite(Right_motor_go,60);

analogWrite(Right_motor_back,0);//PWM比例0~255調速

digitalWrite(Left_motor_go,HIGH);? ?//左輪后退

digitalWrite(Left_motor_back,LOW);

analogWrite(Left_motor_go,30);

analogWrite(Left_motor_back,0);//PWM比例0~255調速

//delay(time * 100);? ?? ???//執行時間，可以調整

}

//void right(int time)? ?? ???//右轉(右輪不動，左輪前進)

void right()

{

digitalWrite(Right_motor_go,LOW);? ?//右電機后退

digitalWrite(Right_motor_back,LOW);

analogWrite(Right_motor_go,0);

analogWrite(Right_motor_back,0);//PWM比例0~255調速

digitalWrite(Left_motor_go,LOW);//左電機前進

digitalWrite(Left_motor_back,HIGH);

analogWrite(Left_motor_go,0);

analogWrite(Left_motor_back,60);//PWM比例0~255調速

//delay(time * 100);? ?? ???//執行時間，可以調整

}

void spin_right()? ?? ???//右轉(右輪后退，左輪前進)

{

digitalWrite(Right_motor_go,LOW);? ?//右電機后退

digitalWrite(Right_motor_back,HIGH);

analogWrite(Right_motor_go,0);

analogWrite(Right_motor_back,30);//PWM比例0~255調速

digitalWrite(Left_motor_go,LOW);//左電機前進

digitalWrite(Left_motor_back,HIGH);

analogWrite(Left_motor_go,0);

analogWrite(Left_motor_back,60);//PWM比例0~255調速

//delay(time * 100);? ?? ???//執行時間，可以調整

}

//void back(int time)? ?? ?? ? //后退

void back(int time)

{

digitalWrite(Right_motor_go,LOW);??//右輪后退

digitalWrite(Right_motor_back,HIGH);

analogWrite(Right_motor_go,0);

analogWrite(Right_motor_back,60);//PWM比例0~255調速

digitalWrite(Left_motor_go,HIGH);??//左輪后退

digitalWrite(Left_motor_back,LOW);

analogWrite(Left_motor_go,60);

analogWrite(Left_motor_back,0);//PWM比例0~255調速

delay(time * 100);? ???//執行時間，可以調整

}

//==========================================================

void keysacn()//按鍵掃描

{

int val;

val=digitalRead(key);//讀取數字7 口電平值賦給val

while(!digitalRead(key))//當按鍵沒被按下時，一直循環

{

val=digitalRead(key);//此句可省略，可讓循環跑空

}

while(digitalRead(key))//當按鍵被按下時

{

delay(10);? ?? ???//延時10ms

val=digitalRead(key);//讀取數字7 口電平值賦給val

if(val==HIGH)??//第二次判斷按鍵是否被按下

{

digitalWrite(beep,HIGH);? ?? ?? ?? ?? ? //蜂鳴器響

while(!digitalRead(key))? ?? ???//判斷按鍵是否被松開

digitalWrite(beep,LOW);? ?? ?? ?? ?? ? //蜂鳴器停止

}

else

digitalWrite(beep,LOW);//蜂鳴器停止

}

}

void loop()

{

keysacn();//調用按鍵掃描函數

while(1)

{

//有信號為LOW??沒有信號為HIGH? ?檢測到黑線??輸出高??檢測到白色區域輸出低

SR = digitalRead(SensorRight);//有信號表明在白色區域，車子底板上L1亮；沒信號表明壓在黑線上，車子底板上L1滅

SL = digitalRead(SensorLeft);//有信號表明在白色區域，車子底板上L2亮；沒信號表明壓在黑線上，車子底板上L2滅

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

run();? ?//調用前進函數

else if (SL == HIGH & SR == LOW)// 左循跡紅外傳感器,檢測到信號，車子向右偏離軌道，向左轉

spin_left();

else if (SR == HIGH & SL == LOW) // 右循跡紅外傳感器,檢測到信號，車子向左偏離軌道，向右轉

spin_right();

else // 都是黑色, 停止

brake();

}

}

總結

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