Arduino小车控制程序（含遥控+寻迹+避障）

// 蓝牙控制程序
#include <Servo.h>
#define STOP      0
#define FORWARD   1
#define BACKWARD  2
#define TURNLEFT  3
#define TURNRIGHT 4
#define ACCELERATE 5
#define SLOWDOWN 6
#define XUNJI     7
#define BIZHANG   8

int ER = 3;  // 右轮速度    
int EL = 5; // 左轮速度
int MR = 7;// 右轮方向
int ML = 8;// 左轮方向
Servo s; //超声波转向舵机
int trig=4; //发射信号
int echo=2; //接收信号
int L=9;  //左边传感器接第9脚
int R=11; //右边传感器接第11脚
unsigned int S; //距离存储
                  
void setup() {

  Serial.begin(9600);
  /*引脚初始化*/
  pinMode(L,INPUT);  //均设置为输入
  pinMode(R,INPUT);
  pinMode(trig,OUTPUT); //设置引脚模式

  pinMode(echo,INPUT);
  pinMode(ML, OUTPUT);  
  pinMode(MR, OUTPUT);
  pinMode(EL, OUTPUT);  
  pinMode(ER, OUTPUT);  
s.attach(10); //定义舵机所用引脚
s.write(90); //初始化舵机角度
delay(2000); //开机延时
}
/* 小车前进 */
void Forward(){
  digitalWrite(ML,LOW);          
  analogWrite(EL, 244);   //PWM调速
  digitalWrite(MR,LOW); 
  analogWrite(ER, 212);   //PWM调速
}
  /* 小车前进 */ //减速档
void Forward1(){
  digitalWrite(ML,LOW);          
  analogWrite(EL, 160);   //PWM调速
  digitalWrite(MR,LOW); 
  analogWrite(ER, 150);   //PWM调速
}
/* 小车前进 */ //加速档
void Forward2(){
  digitalWrite(ML,LOW);          
  analogWrite(EL, 250);   //PWM调速
  digitalWrite(MR,LOW); 
  analogWrite(ER, 220);   //PWM调速
}