制作最简 Arduino 巡线机器人：SparkFun L298 驱动板

元器件与物料

所需工具与设备

• 热熔胶枪 (通用)
• 螺丝刀
• 巡线机器人底盘套件

软件与在线服务

• Arduino IDE

项目简介

巡线机器人是机器人入门的「Hello World」。本项目结构极简，易于搭建，适合初学者快速上手。

代码

Arduino 巡线机器人代码 (C/C++)

/*------- 定义输入引脚 -------*/
#define LS 2  // 左侧传感器
#define RS 5  // 右侧传感器

/*------- 定义输出引脚 -------*/
#define LM1 11 // 左电机正
#define LM2 10 // 左电机反
#define RM1 9  // 右电机正
#define RM2 6  // 右电机反

void setup() {
  pinMode(LS, INPUT);
  pinMode(RS, INPUT);
  pinMode(LM1, OUTPUT);
  pinMode(LM2, OUTPUT);
  pinMode(RM1, OUTPUT);
  pinMode(RM2, OUTPUT);
}

void loop() {
  // 双传感器均检测到黑线 (LOW) -> 前进
  if ((digitalRead(LS) == LOW) && (digitalRead(RS) == LOW)) {
    MoveForward();
  }
  // 双传感器均未检测到黑线 (HIGH) -> 停止
  if ((digitalRead(LS) == HIGH) && (digitalRead(RS) == HIGH)) {
    Stop();
  }
  // 左传感器偏离 (LOW)，右传感器在线 (HIGH) -> 左转修正
  if ((digitalRead(LS) == LOW) && (digitalRead(RS) == HIGH)) {
    TurnLeft();
  }
  // 左传感器在线 (HIGH)，右传感器偏离 (LOW) -> 右转修正
  if ((digitalRead(LS) == HIGH) && (digitalRead(RS) == LOW)) {
    TurnRight();
  }
}

void MoveForward() {
  analogWrite(LM1, 50); analogWrite(LM2, 0);
  analogWrite(RM1, 50); analogWrite(RM2, 0);
  delay(20);
}

void TurnRight() {
  analogWrite(LM1, 0);  analogWrite(LM2, 60);
  analogWrite(RM1, 60); analogWrite(RM2, 0);
  delay(30);
}

void TurnLeft() {
  analogWrite(LM1, 60); analogWrite(LM2, 0);
  analogWrite(RM1, 0);  analogWrite(RM2, 60);
  delay(30);
}

void Stop() {
  analogWrite(LM1, 0); analogWrite(LM2, 0);
  analogWrite(RM1, 0); analogWrite(RM2, 0);
  delay(20);
}

原理图