int pin[3] = {A0, A4, A3}; //从左至右对应
int velocity = 210; //定义速率
byte value;
byte value_his = 0; //记录上一次的传感器值
void setup()
{
pinMode( 5 , OUTPUT);//右
pinMode( 6 , OUTPUT);
pinMode( 9 , OUTPUT);
pinMode( 10 , OUTPUT);
}
void loop()
{
value = 0;
for(int i=0; i<3; i++)
{
value |= (digitalRead(pin[i]) << i);
}
if(value == 0x00)
{ //当传感器都没有触发时默认为上一次的值
value = value_his;
}
switch (value)
{
case 0x07: //全部触发
Forwards();
break;
case 0x06: //触发右边两个
while(!digitalRead(pin[1])){ //通过while 循环使小车回到跑道中间
Right();
}
break;
case 0x04: //触发右边一个
while(!digitalRead(pin[1]))
{
Right();
}
break;
case 0x03: //触发左边两个
while(!digitalRead(pin[1]))
{
Left();
}
break;
case 0x02: //触发中间一个
Forwards();
break;
case 0x01: //触发左边一个
while(!digitalRead(pin[1]))
{
Left();
}
break;
}
value_his = value;
}
void Left()
{
analogWrite( 5 ,230);//左
analogWrite( 6 ,0 );
analogWrite( 9 ,240);
analogWrite( 10 , 0);
delay(1);
}
void Right()
{
analogWrite( 5 ,230);
analogWrite( 6 , 0 );
analogWrite( 9 ,220);
analogWrite( 10 ,0 );
delay(1);
}
void Forwards()
{
analogWrite( 5 ,240 );//左
analogWrite( 6 , 0 );
analogWrite( 9 ,220);
analogWrite( 10 ,0 );
delay(1);
}
void back()
{
analogWrite( 5 , 0 );
analogWrite( 6 ,230 );
analogWrite( 9 , 0 );
analogWrite( 10 ,255 );
delay(1);
}
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