两个电机的循迹小车的程序求改成四个电机的
我这有一个两个电机的循迹小车的程序，有没有大佬能指点我一下将其改成四个电机的？？？多谢！！！int Left_motor = 8; //
int Left_motor_pwm = 9; //
int Right_motor_pwm = 10; //
int Right_motor = 11; //
int key = A2; //
int SL; //
int SR; //
int SM; //
int SB; //
const int SensorRight = 3; //
const int SensorLeft = 4; //
const int SensorMin = 44; //
const int SensorBack = 5; //
const int SensorBackLeft = 45; //
void Motorinit()
{
//brake(1,0);
pinMode(Left_motor,OUTPUT); //
pinMode(Left_motor_pwm,OUTPUT); //
pinMode(Right_motor_pwm,OUTPUT); //
pinMode(Right_motor,OUTPUT); //
pinMode(key,INPUT); //
pinMode(beep,OUTPUT);
pinMode(47,OUTPUT);
digitalWrite(47,HIGH);
pinMode(SensorRight, INPUT); //
pinMode(SensorLeft, INPUT); //
pinMode(SensorMin, INPUT); //
pinMode(SensorBack, INPUT); //
}
void motor_run(int Delay_time = 0,unsigned char _speed = 120) //
{
digitalWrite(Right_motor,LOW); //
digitalWrite(Right_motor_pwm,HIGH); //
analogWrite(Right_motor_pwm,_speed); //
digitalWrite(Left_motor,LOW); //
digitalWrite(Left_motor_pwm,HIGH); //
analogWrite(Left_motor_pwm,_speed); //
if(Delay_time != 0)
{
delay(Delay_time);
brake(1,0);
}
}
void spin_left_first() //
{
digitalWrite(Right_motor,LOW); //
digitalWrite(Right_motor_pwm,HIGH);//
analogWrite(Right_motor_pwm,220); //
digitalWrite(Left_motor,HIGH);//
digitalWrite(Left_motor_pwm,LOW);//
analogWrite(Left_motor_pwm,200);//
}
void spin_right() //
{
digitalWrite(Right_motor,HIGH);//
digitalWrite(Right_motor_pwm,HIGH);//
analogWrite(Right_motor_pwm,170);//
digitalWrite(Left_motor,LOW);//
digitalWrite(Left_motor_pwm,HIGH);//
analogWrite(Left_motor_pwm,190);//
}
void Go_straight(int Speed = 100)
{
SR = digitalRead(SensorRight);//
SL = digitalRead(SensorLeft);//
if (SL == LOW && SR==LOW)
motor_run(0,Speed); //
else if (SL == HIGH & SR == LOW)//
spin_left_first();
else if (SL == LOW & SR == HIGH) //
spin_right();
else
{
motor_run(0,Speed);
}
}
void brake(int flag,int delay_time) //20 1 100
{
if(flag != 1)
{
digitalWrite(Left_motor,HIGH);
digitalWrite(Right_motor,HIGH);
}
else
{
digitalWrite(Left_motor,LOW);
digitalWrite(Right_motor,LOW);
}
if(delay_time != 0)
delay(delay_time);
if(flag == 1)
{
digitalWrite(Left_motor,HIGH);
digitalWrite(Right_motor,HIGH);
}
else
{
digitalWrite(Left_motor,LOW);
digitalWrite(Right_motor,LOW);
}
digitalWrite(Right_motor_pwm,255);
digitalWrite(Left_motor_pwm,255);//
delay(30);
digitalWrite(Right_motor_pwm,LOW);//
analogWrite(Right_motor_pwm,0);//
digitalWrite(Left_motor_pwm,LOW);//
analogWrite(Left_motor_pwm,0);//
}
//int _Speed = 100
void back(int _Speed = 80)
{
digitalWrite(Right_motor,HIGH);
digitalWrite(Right_motor_pwm,HIGH);
analogWrite(Right_motor_pwm,_Speed);
digitalWrite(Left_motor,HIGH);
digitalWrite(Left_motor_pwm,HIGH);//
analogWrite(Left_motor_pwm,_Speed);//
}
void back1()
{
digitalWrite(Right_motor,HIGH);
digitalWrite(Right_motor_pwm,HIGH);
analogWrite(Right_motor_pwm,70);
digitalWrite(Left_motor,HIGH);
digitalWrite(Left_motor_pwm,HIGH);//
analogWrite(Left_motor_pwm,90);//
}
void back_straight()
{
SR = digitalRead(SensorBack);//
SL = digitalRead(SensorBackLeft);//
if (SL == LOW && SR==LOW)
back(); //
else if (SL == HIGH & SR == LOW)//
spin_right();
else if (SL == LOW & SR == HIGH) //
spin_left_first();
else
{
back();
delay(100);
}
}
void keysacn()//
{
int val;
val=digitalRead(key);//
while(!digitalRead(key))//
{
val=digitalRead(key);//
}
while(digitalRead(key))//
{
delay(10);//
val=digitalRead(key);//
if(val==HIGH)//
{
digitalWrite(beep,HIGH);
while(!digitalRead(key))
digitalWrite(beep,LOW);
}
else
digitalWrite(beep,LOW);//
}
}
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