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：

• 这个小车不算完，因为有太多的功能可供大家玩，比如我就装上了超声波和红外传感器，是不是挺萌的！
• 与其叫这个东西小车，不如说它是每个机器人爱好者入门的神车吧！

 

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