【Arduino】智能寻迹寻光小车-（干货） - 烽火社区

#include 
#include 
#include 
double angle_rad = PI/180.0;
double angle_deg = 180.0/PI;
double a4;
double a8;
double a9;
double a10;
void setup(){
    pinMode(4,INPUT);
    pinMode(8,INPUT);
    pinMode(9,INPUT);
    pinMode(10,INPUT);
    pinMode(5,OUTPUT);
    pinMode(6,OUTPUT);

}
void loop(){
    
    a4 = digitalRead(4);
    a8 = digitalRead(8);
    a9 = digitalRead(9);
    a10 = digitalRead(10);
    if((!(digitalRead(9))) | (!(digitalRead(10)))){
        if(!(digitalRead(9))){
            analogWrite(5,100);
        }else{
            analogWrite(5,0);
        }
        if(!(digitalRead(10))){
            analogWrite(6,100);
        }else{
            analogWrite(6,0);
        }
    }else{
        if(digitalRead(4)){
            analogWrite(5,0);
        }else{
            analogWrite(5,120);
        }
        if(digitalRead(8)){
            analogWrite(6,0);
        }else{
            analogWrite(6,138);
        }
    }
    
}