基于arduino的5路循迹小车（2）
小车5路红外循线
接第一篇链接 https://blog.csdn.net/weixin_45984029/article/details/103437347

1.硬件选用

5个红外循迹模块（推荐这种，性价比较高）

2.接线

VCC接开发板3.3V
GND接开发板GND
D0接开发板信号口（具体位置对应代码）
A0不接

3.代码

int Left_motor_go1 = 24;        //左电机前进 AIN1
int Left_motor_back1 = 25;      //左电机后退 AIN2int Right_motor_go1 = 22;       //右电机前进 BIN1
int Right_motor_back1 = 23;     //右电机后退 BIN2int Left_motor_pwm1 = 3;       //左电机控速 PWMA1
int Right_motor_pwm1= 5;      //右电机控速 PWMB1
int Left_motor_pwm2 = 4;       //左电机控速 PWMA2
int Right_motor_pwm2= 6;      //右电机控速 PWMB2//循迹红外引脚定义
//TrackSensorLeftPin1 TrackSensorLeftPin2 TrackSensorMid TrackSensorRightPin1 TrackSensorRightPin2
//      A1                   A2                  A3                   A4                A5
const int TrackSensorLeftPin1  =  A1;  //定义第一个循迹红外传感器引脚为A1
const int TrackSensorLeftPin2  =  A2;  //定义第二个循迹红外传感器引脚为A2
const int TrackSensorMid = A3;       //定义第三个循迹红外传感器引脚为A3
const int TrackSensorRightPin1 =  A4;  //定义第四个循迹红外传感器引脚为A4
const int TrackSensorRightPin2 =  A5;  //定义第五个循迹红外传感器引脚为A5//定义各个循迹红外引脚采集的数据的变量
int SLL;
int SL;
int SM;
int SR;
int SRR;void setup()
{//初始化电机驱动IO口为输出方式pinMode(Left_motor_go1, OUTPUT);pinMode(Left_motor_back1, OUTPUT);pinMode(Right_motor_go1, OUTPUT);pinMode(Right_motor_back1, OUTPUT);//定义四路循迹红外传感器为输入接口pinMode(TrackSensorLeftPin1, INPUT);pinMode(TrackSensorLeftPin2, INPUT);pinMode(TrackSensorMid,INPUT);pinMode(TrackSensorRightPin1, INPUT);pinMode(TrackSensorRightPin2, INPUT);//四路循迹红外传感器初始化为高电平digitalWrite(TrackSensorLeftPin1, HIGH);digitalWrite(TrackSensorLeftPin2, HIGH);digitalWrite(TrackSensorMid,HIGH);digitalWrite(TrackSensorRightPin1, HIGH);digitalWrite(TrackSensorRightPin2, HIGH);
}void run(int left_speed, int right_speed)
{//左电机前进digitalWrite(Left_motor_go1, LOW);   //左电机前进使能digitalWrite(Left_motor_back1, HIGH);  //左电机后退禁止analogWrite(Left_motor_pwm1, LOW);analogWrite(Left_motor_pwm2, left_speed);//右电机前进digitalWrite(Right_motor_go1, LOW);  //右电机前进使能digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止analogWrite(Right_motor_pwm1, LOW);analogWrite(Right_motor_pwm2, right_speed);
}void  left(int left_speed, int right_speed)
{//左电机后退digitalWrite(Left_motor_go1, HIGH);    //左电机前进禁止digitalWrite(Left_motor_back1,LOW);  //左电机后退禁止analogWrite(Left_motor_pwm2, left_speed);analogWrite(Left_motor_pwm1,LOW);//右电机前进digitalWrite(Right_motor_go1, LOW);  //右电机前进使能digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止analogWrite(Right_motor_pwm2, LOW);analogWrite(Right_motor_pwm1, right_speed);
}void right(int left_speed, int right_speed)
{//左电机前进digitalWrite(Left_motor_go1, LOW);   //左电机前进使能digitalWrite(Left_motor_back1, HIGH);  //左电机后退禁止analogWrite(Left_motor_pwm2, LOW);analogWrite(Left_motor_pwm1, left_speed);//右电机后退digitalWrite(Right_motor_go1, HIGH );   //右电机前进禁止digitalWrite(Right_motor_back1,LOW); //右电机后退禁止analogWrite(Right_motor_pwm2, right_speed);analogWrite(Right_motor_pwm1, LOW );}void back(int left_speed, int right_speed)
{//左电机后退digitalWrite(Left_motor_go1, HIGH);   //左电机前进禁止digitalWrite(Left_motor_back1, LOW);  //左电机后退使能analogWrite(Left_motor_pwm1, left_speed);analogWrite(Left_motor_pwm2, LOW);//右电机后退digitalWrite(Right_motor_go1, HIGH);  //右电机前进禁止digitalWrite(Right_motor_back1, LOW); //右电机后退使能analogWrite(Right_motor_pwm1, right_speed);analogWrite(Right_motor_pwm2, LOW);
}void bank(int left_speed, int right_speed)//惯性停车
{//左电机空digitalWrite(Left_motor_go1, LOW);   //左电机前进禁止digitalWrite(Left_motor_back1, LOW);  //左电机后退禁止analogWrite(Left_motor_pwm1, left_speed);analogWrite(Left_motor_pwm2, left_speed);//右电机空digitalWrite(Right_motor_go1, LOW);   //右电机前进禁止digitalWrite(Right_motor_back1,LOW); //右电机后退禁止analogWrite(Right_motor_pwm1, right_speed);analogWrite(Right_motor_pwm2, right_speed);
}
void loop()
{//检测到黑线时循迹模块相应的指示灯灭，端口电平为HIGH//未检测到黑线时循迹模块相应的指示灯亮，端口电平为LOWSLL  = digitalRead(TrackSensorLeftPin1);SL  = digitalRead(TrackSensorLeftPin2);SM = digitalRead(TrackSensorMid);SR = digitalRead(TrackSensorRightPin1);SRR = digitalRead(TrackSensorRightPin2);//循迹if( SM == HIGH ){run(45,37);                                                                                                                  }if( SL == HIGH && SM == LOW){left(35,57);}if( SLL == HIGH && SM == LOW){left(35,57);}if( SR == HIGH && SM == LOW){right(50,32);}if( SRR == HIGH && SM == LOW){right(50,32);}if(SR == HIGH && SRR == HIGH){right(50,32);}if(SL == HIGH && SLL == HIGH){left(30,57);}if(SRR == HIGH && SR == HIGH && SM == HIGH && SL == HIGH){right(50,32);}if(SM == HIGH && (SL == HIGH && SLL == HIGH) || (SR == HIGH && SL == HIGH) || (SR == HIGH && SRR == HIGH)){run(45,37);}
}

4.测试小车

按正确连线，已经可以正常循迹了
代码中的PWM数值可根据实际情况更改（每个电机各有差异）

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基于arduino的5路循迹小车（2）

1.硬件选用

2.接线

3.代码

4.测试小车

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