1. 功能說明

在小型平行履帶底盤樣機上安裝2個 灰度傳感器 ，實現機器人沿指定路線進行運動的效果。

2. 使用樣機

本實驗使用的樣機為R026a樣機。

3. 功能實現

3.1 電子硬件

在這個示例中，我們采用了以下硬件，請大家參考：

3.2 編寫程序

編程環境：Arduino 1.8.19

編寫并燒錄以下程序（2gray_blackline.ino），該程序將實現演示動圖中的動作【例程源代碼資料下載詳見 https://www.robotway.com/h-col-114.html】

/*------------------------------------------------------------------------------------

  版權說明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.

           Distributed under MIT license.See file LICENSE for detail or copy at

           https://opensource.org/licenses/MIT

           by 機器譜 2023-02-09 https://www.robotway.com/

  ------------------------------

  實驗接線：兩個直流電機接口的針腳號分別為D5,D6以及D9,D10;灰度傳感器連在A0、A4接口上                                     

------------------------------------------------------------------------------------*/

int i=0;

void Forward();

void Back();

void Turn_left();

void Turn_right();

void Speed_up();

void Slow_down();

void setup() {

  // put your setup code here, to run once:

pinMode(A0,INPUT);

pinMode(A4,INPUT);

pinMode(9,OUTPUT);

pinMode(10,OUTPUT);

pinMode(5,OUTPUT);

pinMode(6,OUTPUT);

Serial.begin(9600);

}

void loop() {

  // put your main code here, to run repeatedly:

int a=digitalRead(A0);

int b=digitalRead(A4);

Serial.println(a);

Serial.println(b);//Here is serial monitor,you will kown in later learning

if(a==0&&b==0)

Forward();

if(a==1&&b==0)

Turn_left();

if(a==0&&b==1)

Turn_right();

}

void Forward()//

{

analogWrite(9,120);

analogWrite(10,0);

analogWrite(5,120);

analogWrite(6,0);

delay(50);

}

void Back()

{

digitalWrite(9,LOW);

digitalWrite(10,HIGH);

digitalWrite(5,LOW);

digitalWrite(6,HIGH);

delay(4000);

}

void Turn_left()

{

digitalWrite(9,0);

digitalWrite(10,0);

digitalWrite(5,100);

digitalWrite(6,0);

delay(50);

}

void Turn_right()

{

digitalWrite(9,100);

digitalWrite(10,0);

digitalWrite(5,0);

digitalWrite(6,0);

delay(50);

}

void Speed_up()

{

for(i=0;i<=255;i+=5)

  {

  analogWrite(9,i);

  analogWrite(10,0);

  analogWrite(5,i);

  analogWrite(6,0);

  delay(50);

  }//speed up


}

void Slow_down()

{

for(i=255;i>=0;i-=5)

  {  

  analogWrite(9,i);

  analogWrite(10,0);

  analogWrite(5,i);

  analogWrite(6,0);

  delay(50);

  }

}

審核編輯黃宇