arduino 超声波小车

这次，我使用超声波硬件测量前方的距离，并让小车作出判断：是前进，还是后退，是左转，还是右转，或停止。

const int eye1 = 8;
const int eye2 = 9;
const int left1 = 14;
const int left2 = 15;
const int right1 = 16;
const int right2 = 17;
const int PWM1 = 3;
const int PWM2 = 5;
float cm;
void setup() {
  Serial.begin(9600);
  pinMode(left1, OUTPUT);
  pinMode(left2, OUTPUT);
  pinMode(right1, OUTPUT);
  pinMode(right2, OUTPUT);
  pinMode(eye1, OUTPUT);
  pinMode(eye2, INPUT);
}
void loop() {
  digitalWrite(eye1, LOW);
  delayMicroseconds(2);
  digitalWrite(eye1, HIGH);
  delayMicroseconds(10);
  digitalWrite(eye1, LOW);
  cm = pulseIn(eye2, HIGH) / 50.0;
  cm = (int(cm * 100.0)) / 100.0;
  if (cm <= 20) {
    back(1);
  }
  else if (cm > 30) {
    go(1);
  }
  else if (cm > 20 || cm < 30) {
    stop1(100);
  }
  else {
    go(1);
  }
}
void go(int n) {
  analogWrite(PWM1, 180);
  digitalWrite(left1, HIGH);
  digitalWrite(left2, LOW);
  analogWrite(PWM2, 183);
  digitalWrite(right1, HIGH);
  digitalWrite(right2, LOW);
  delay(100 * n);
}
void stop1(int y) {
  digitalWrite(left1, LOW);
  digitalWrite(left2, LOW);
  digitalWrite(right1, LOW);
  digitalWrite(right2, LOW);
  delay(y * 1);
}
void back(int j) {
  analogWrite(PWM1, 180);
  digitalWrite(left1, LOW);
  digitalWrite(left2, HIGH);
  analogWrite(PWM2, 183);
  digitalWrite(right1, LOW);
  digitalWrite(right2, HIGH);
  delay(100 * j);
}
void left(int k) {
  analogWrite(PWM1, 253);
  digitalWrite(left1, LOW);
  digitalWrite(left2, HIGH);
  analogWrite(PWM2, 255);
  digitalWrite(right1, HIGH);
  digitalWrite(right2, LOW);
  delay(400 * k);
}
void right(int aa) {
  analogWrite(PWM1, 253);
  digitalWrite(left1, HIGH);
  digitalWrite(left2, LOW);
  analogWrite(PWM2, 255);
  digitalWrite(right1, LOW);
  digitalWrite(right2, HIGH);
  delay(1 * aa);
}

上传这段代码后：

如果前方距离小于或等于20，小车后退。

如果前方距离大于30，小车前进。

如果前方距离大于20并小于30，小车停止。

如果都不是，小车前进。

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