超声波避障小车程序

intMotor1=8;intMotor2=9;intMotor3=10;intMotor4=11;intin=3;intout=2;intpin1=5;intpin2=6;intpwm=100;voidsetup(){Serial.begin(9600);pinMode(in,INPUT);pinMode(out,OUTPUT);pinMode(Motor1,OUTPUT);pinMode(Motor2,OUTPUT);pinMode(pin1,OUTPUT);pinMode(Motor3,OUTPUT);pinMode(Motor4,OUTPUT);pinMode(pin2,OUTPUT);}voidloop(){digitalWrite(out,LOW);delayMicroseconds(2);digitalWrite(out,HIGH);delayMicroseconds(10);digitalWrite(out,LOW);floatpin=pulseIn(in,HIGH);pin=pin/58.0;if(pin=50){qj(100);}else{ht(500);zz(250);}}voidqj(intt1){analogWrite(pin1,pwm);digitalWrite(Motor1,LOW);digitalWrite(Motor2,HIGH);analogWrite(pin2,pwm);digitalWrite(Motor3,LOW);digitalWrite(Motor4,HIGH);delay(t1);}voidht(intt2){analogWrite(pin1,pwm);digitalWrite(Motor1,HIGH);digitalWrite(Motor2,LOW);analogWrite(pin2,pwm);digitalWrite(Motor3,HIGH);digitalWrite(Motor4,LOW);delay(t2);}voidtz(intt3){analogWrite(pin1,0);digitalWrite(Motor1,LOW);digitalWrite(Motor2,LOW);analogWrite(pin2,0);digitalWrite(Motor3,LOW);digitalWrite(Motor4,LOW);delay(t3);}voidzz(intt4){analogWrite(pin1,pwm);digitalWrite(Motor1,HIGH);digitalWrite(Motor2,LOW);analogWrite(pin2,pwm);digitalWrite(Motor3,LOW);digitalWrite(Motor4,HIGH);delay(t4);}voidyz(intt5){analogWrite(pin1,pwm);digitalWrite(Motor1,LOW);digitalWrite(Motor2,HIGH);analogWrite(pin2,pwm);digitalWrite(Motor3,HIGH);digitalWrite(Motor4,LOW);delay(t5);}