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);;}}}