int MotorRight1=14;
int MotorRight2=15;
int MotorLeft1=16;
int MotorLeft2=17;
int MotorRPWM=3;
int MotorLPWM=5;
const int SensorLeft = 2; //左感测器輸入腳
//const int SensorMiddle= 4 ; //中感测器輸入腳
const int SensorRight = 6; //右感测器輸入腳
int SL; //左感测器狀態
//int SM; //中感测器狀態
int SR; //右感测器狀態
void setup()
{
Serial.begin(9600);
pinMode(MotorRight1, OUTPUT); // 腳位 14 (PWM)
pinMode(MotorRight2, OUTPUT); // 腳位 15 (PWM)
pinMode(MotorLeft1, OUTPUT); // 腳位 16 (PWM)
pinMode(MotorLeft2, OUTPUT); // 腳位 17 (PWM)
pinMode(MotorLPWM, OUTPUT); // 腳位 3 (PWM)
pinMode(MotorRPWM, OUTPUT); // 腳位 5 (PWM)
pinMode(SensorLeft, INPUT); //定義左感测器
// pinMode(SensorMiddle, INPUT);//定義中感测器
pinMode(SensorRight, INPUT); //定義右感测器
}
void loop()
{
SL = digitalRead(SensorLeft);
// SM = digitalRead(SensorMiddle);
SR = digitalRead(SensorRight);
if (SL == LOW&&SR==LOW)//
{
digitalWrite(MotorRight1,HIGH);
digitalWrite(MotorRight2,LOW);
analogWrite(MotorRPWM,150);
digitalWrite(MotorLeft1,HIGH);
digitalWrite(MotorLeft2,LOW);
analogWrite(MotorLPWM,150);
}
else //
{
if (SL == HIGH & SR == LOW)// 左黑右白, 高速左轉
{
delay(1);
digitalWrite(MotorRight1,HIGH);
digitalWrite(MotorRight2,LOW);
analogWrite(MotorRPWM,130);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);
}
else if (SR == HIGH & SL == LOW) // 左白右黑, 高速右轉
{
delay(1);
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,HIGH);
digitalWrite(MotorLeft2,LOW);
analogWrite(MotorLPWM,130);
}
else // 都是白色, 停止
{
digitalWrite(MotorRight1,LOW);
digitalWrite(MotorRight2,LOW);
digitalWrite(MotorLeft1,LOW);
digitalWrite(MotorLeft2,LOW);;
}}}
