在下載到開發板之前要選擇好板和端口，具體參見：

ZYAR20A 亞克力2驅 藍牙 298尋跡避障機器人 —— Arduino相關設置

代碼

// 智能小車黑線循跡實驗 //=============================================================== //#include <Servo.h> int Left_motor_go=8; //左電機前進(IN1) int Left_motor_back=9; //左電機后退(IN2) int Right_motor_go=10; // 右電機前進(IN3) int Right_motor_back=11; // 右電機后退(IN4)int key=A2;//定義按鍵 數字A2 接口 int beep=A3;//定義蜂鳴器 數字A3 接口const int SensorRight = 3; //右循跡紅外傳感器(P3.2 OUT1) const int SensorLeft = 4; //左循跡紅外傳感器(P3.3 OUT2)int SL; //左循跡紅外傳感器狀態 int SR; //右循跡紅外傳感器狀態void setup() {//初始化電機驅動IO為輸出方式pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM)pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM) pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM)pinMode(key,INPUT);//定義按鍵接口為輸入接口pinMode(beep,OUTPUT);pinMode(SensorRight, INPUT); //定義右循跡紅外傳感器為輸入pinMode(SensorLeft, INPUT); //定義左循跡紅外傳感器為輸入 }//=======================智能小車的基本動作========================= //void run(int time) // 前進 void run() {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW); analogWrite(Right_motor_go,60);//PWM比例0~255調速，左右輪差異略增減analogWrite(Right_motor_back,0);digitalWrite(Left_motor_go,LOW); // 左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0);//PWM比例0~255調速，左右輪差異略增減analogWrite(Left_motor_back,60);//delay(time * 100); //執行時間，可以調整 }//void brake(int time) //剎車，停車 void brake() {digitalWrite(Right_motor_go,LOW);digitalWrite(Right_motor_back,LOW);digitalWrite(Left_motor_go,LOW);digitalWrite(Left_motor_back,LOW);//delay(time * 100);//執行時間，可以調整 }//void left(int time) //左轉(左輪不動，右輪前進) void left() {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,60); analogWrite(Right_motor_back,0);//PWM比例0~255調速digitalWrite(Left_motor_go,LOW); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,0);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }void spin_left() //左轉(左輪后退，右輪前進) {digitalWrite(Right_motor_go,HIGH); // 右電機前進digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,60); analogWrite(Right_motor_back,0);//PWM比例0~255調速digitalWrite(Left_motor_go,HIGH); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,30); analogWrite(Left_motor_back,0);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }//void right(int time) //右轉(右輪不動，左輪前進) void right() {digitalWrite(Right_motor_go,LOW); //右電機后退digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,0);//PWM比例0~255調速digitalWrite(Left_motor_go,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,60);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }void spin_right() //右轉(右輪后退，左輪前進) {digitalWrite(Right_motor_go,LOW); //右電機后退digitalWrite(Right_motor_back,HIGH);analogWrite(Right_motor_go,0); analogWrite(Right_motor_back,30);//PWM比例0~255調速digitalWrite(Left_motor_go,LOW);//左電機前進digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0); analogWrite(Left_motor_back,60);//PWM比例0~255調速//delay(time * 100); //執行時間，可以調整 }//void back(int time) //后退 void back(int time) {digitalWrite(Right_motor_go,LOW); //右輪后退digitalWrite(Right_motor_back,HIGH);analogWrite(Right_motor_go,0);analogWrite(Right_motor_back,60);//PWM比例0~255調速digitalWrite(Left_motor_go,HIGH); //左輪后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,60);analogWrite(Left_motor_back,0);//PWM比例0~255調速delay(time * 100); //執行時間，可以調整 } //==========================================================void keysacn()//按鍵掃描 {int val;val=digitalRead(key);//讀取數字7 口電平值賦給valwhile(!digitalRead(key))//當按鍵沒被按下時，一直循環{val=digitalRead(key);//此句可省略，可讓循環跑空}while(digitalRead(key))//當按鍵被按下時{delay(10); //延時10msval=digitalRead(key);//讀取數字7 口電平值賦給valif(val==HIGH) //第二次判斷按鍵是否被按下{digitalWrite(beep,HIGH); //蜂鳴器響while(!digitalRead(key)) //判斷按鍵是否被松開digitalWrite(beep,LOW); //蜂鳴器停止}elsedigitalWrite(beep,LOW);//蜂鳴器停止} }void loop() { keysacn();//調用按鍵掃描函數 while(1){//有信號為LOW 沒有信號為HIGH 檢測到黑線 輸出高 檢測到白色區域輸出低SR = digitalRead(SensorRight);//有信號表明在白色區域，車子底板上L1亮；沒信號表明壓在黑線上，車子底板上L1滅SL = digitalRead(SensorLeft);//有信號表明在白色區域，車子底板上L2亮；沒信號表明壓在黑線上，車子底板上L2滅if (SL == LOW&&SR==LOW)run(); //調用前進函數else if (SL == HIGH & SR == LOW)// 左循跡紅外傳感器,檢測到信號，車子向右偏離軌道，向左轉 spin_left();else if (SR == HIGH & SL == LOW) // 右循跡紅外傳感器,檢測到信號，車子向左偏離軌道，向右轉 spin_right();else // 都是黑色, 停止brake();} } 與50位技術專家面對面20年技術見證，附贈技術全景圖

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