寻迹小车

用户名太难了

为什么加了和寻迹相关的代码之后,小车的速度会变慢呢?有什么解决方案吗?

1. int GraysensorRPin = 18;
   
2. int GraysensorLPin = 14;
   
3. int motor_01 = 10;
   
4. int motor_02 = 6;
   
5. int motor_03 = 5;
   
6. int motor_04 = 9;
   
7. int start_stop_flag = 0;
   
8. int stop_num = 0;
   
9. int stop_clear_num = 0;
   
10. void right();
    
11. void left();
    
12. void forwards();
    
13. void stop();
    
14. 
    
15. void setup() {
    
16.   pinMode(GraysensorRPin,INPUT);
    
17.   pinMode(GraysensorLPin,INPUT);
    
18.   pinMode(motor_01,OUTPUT);
    
19.   pinMode(motor_02,OUTPUT);
    
20.   pinMode(motor_03,OUTPUT);
    
21.   pinMode(motor_04,OUTPUT);
    
22. }
    
23. 
    
24. void loop() {
    
25.   if(!(digitalRead(GraysensorRPin)) &&digitalRead(GraysensorLPin))
    
26.   {
    
27.     right();
    
28.   }
    
29.     if(digitalRead(GraysensorRPin) && !(digitalRead(GraysensorLPin)))
    
30.   {
    
31.     left();
    
32.   }
    
33.     if( (!digitalRead(GraysensorRPin))&& (!digitalRead(GraysensorLPin)))
    
34.   {
    
35.     forwards();
    
36.   }
    
37.     if(digitalRead(GraysensorRPin) &&digitalRead(GraysensorLPin))
    
38.   {
    
39.     stop();
    
40.   }
    
41.   if(stop_clear_num == 2)
    
42.   {
    
43.     start_stop_flag = 1;
    
44.   }
    
45.   
    
46. }
    
47. void stop()
    
48. {
    
49.    if(start_stop_flag)
    
50.   {
    
51.     analogWrite(motor_03, 0);
    
52.     analogWrite(motor_02, 0);
    
53.     analogWrite(motor_04, 0);
    
54.     analogWrite(motor_01, 0);
    
55.     start_stop_flag = 0;
    
56.     forwards();
    
57.   }else
    
58.   {
    
59.     stop_num++;
    
60.   }
    
61. }
    
62. 
    
63. void right()
    
64. {
    
65.   analogWrite(motor_03, 175);
    
66.   analogWrite(motor_02, 0);
    
67.   analogWrite(motor_04, 0);
    
68.   analogWrite(motor_01, 175);
    
69. }
    
70. 
    
71. void forwards()
    
72. {
    
73.   analogWrite(motor_03, 175);
    
74.   analogWrite(motor_02, 0);
    
75.   analogWrite(motor_04, 175);
    
76.   analogWrite(motor_01, 0);
    
77.    if(stop_num > 10)
    
78.   {
    
79.     stop_num = 0;
    
80.     stop_clear_num++;
    
81.   }
    
82. }
    
83. 
    
84. void left()
    
85. {
    
86.   analogWrite(motor_03, 0);
    
87.   analogWrite(motor_02, 175);
    
88.   analogWrite(motor_04, 175);
    
89.   analogWrite(motor_01, 0);
    
90. }

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