光杆寻黑线

int LA=14;

int LB=15;

int RA=16;

int RB=17;

int EN1=3;

int EN2=5;

const int LS=2;

const int RS=6;

void setup()

{

pinMode(LA,OUTPUT);

pinMode(LB,OUTPUT);

pinMode(RA,OUTPUT);

pinMode(RB,OUTPUT);

pinMode(EN1,OUTPUT);

pinMode(EN2,OUTPUT);

pinMode(LS,INPUT);

pinMode(RS,INPUT);

}

void loop()

{

int LI=digitalRead(LS);

int RI=digitalRead(RS);

if (LI==LOW && RI==LOW) {forward(0.1);pause(0.2);}

else if (LI==HIGH && RI==LOW) {right(0.25);pause(0.2);}

else if (LI==LOW && RI==HIGH){left(0.25);pause(0.2);};

}

void forward(float a)

{

analogWrite(EN1,150);

digitalWrite(LA,HIGH);

digitalWrite(LB,LOW);

analogWrite(EN2,164);

digitalWrite(RA,HIGH);

digitalWrite(RB,LOW);

delay(a*1000);

}

void left(float c)

{

analogWrite(EN1,0);

digitalWrite(LA,LOW);

digitalWrite(LB,LOW);

analogWrite(EN2,200);

digitalWrite(RA,HIGH);

digitalWrite(RB,LOW);

delay(c*1000);

}

void right(float d)

{

analogWrite(EN1,200);

digitalWrite(LA,HIGH);

digitalWrite(LB,LOW);

analogWrite(EN2,0);

digitalWrite(RA,LOW);

digitalWrite(RB,LOW);

delay(d*1000);

}

void pause(float e)

{

analogWrite(EN1,150);

digitalWrite(LA,LOW);

digitalWrite(LB,LOW);

analogWrite(EN2,188);

digitalWrite(RA,LOW);

digitalWrite(RB,LOW);

delay(e*1000);

}