插上调试,我的两个用万能板焊的板子没有任何问题,在佩服自己的同时也再次自信一下吧! 将电路装到小车上,开始调试…… 4 程序部分(时间仓促,未精调,只是实现功能)供大家参考: 先定义各接口 int lled = 7; int rled = 4; int lmotor = 19; int rmotor = 18; int rdate = 0; int ldate = 0; int ledpin = 14; int l = 0; int r = 0; int a = 0; int b = 0; int c = 0; int e = 0; void setup() { pinMode(lled,INPUT); pinMode(rled,INPUT); pinMode(lmotor,OUTPUT); pinMode(rmotor,OUTPUT); pinMode(ledpin,OUTPUT); } void run() { for(int i = 0;i < a;i ++) { digitalWrite(lmotor,HIGH); delayMicroseconds(ldate); digitalWrite(lmotor,LOW); digitalWrite(rmotor,HIGH); delayMicroseconds(rdate); digitalWrite(rmotor,LOW); delay(18); } } void loop() { l = digitalRead(lled); r = digitalRead(rled); if ((l == HIGH) || (r == HIGH)) digitalWrite(ledpin,HIGH); else digitalWrite(ledpin,LOW); if((l == HIGH)&&(r == HIGH)) { while((l == HIGH)&&(r == HIGH)) { l = digitalRead(lled); r = digitalRead(rled); } } else if(l == HIGH) //左边儿检测到黑线,左转 { ldate = 1480; rdate = 1630; a = 10; } else if(r == HIGH) //右边儿检测到黑线,右转 { ldate = 1350; rdate = 1500; a = 10; } else { ldate = 1300; rdate = 1730; a = 1; } run(); } 上图若干:
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