5路TCRT5000 红外线传感器巡线机器人（车）

硬件：uno板，L298N马达驱动板，9伏电池，马达，红外线传感器TCR T5000 5个（或5合1一个）

将以下代码复制并粘贴到您的 Arduino 编辑器中。

测试代码

使用此代码测试电机和红外传感器。

/*
    This is the Test code for the line follower.

    For instructions, please click the link below.
*/

// Motor A - Left Motor
#define MCenA 13
#define MCin1 11
#define MCin2 12

// Motor B - Right Motor
#define MCenB 8
#define MCin3 9
#define MCin4 10

// Set inital speed for Motors
int motorSpeedA = 0;
int motorSpeedB = 0;

// Initialise light sensors

int in1 = 3;
int in2 = 4;
int in3 = 5;
int in4 = 6;
int in5 = 7;

int s1 = 0;
int s2 = 0;
int s3 = 0;
int s4 = 0;
int s5 = 0;

void setup() {
  // Open serial connection to display values in Monitor if connected
  Serial.begin(9600);
  Serial.println("Light sensor test");

  // Initialise sensor inputs:
  pinMode(in1,INPUT);
  pinMode(in2,INPUT);
  pinMode(in3,INPUT);
  pinMode(in4,INPUT);
  pinMode(in5,INPUT);

  // Initialize the Arduino ports for the Motor Controller
  pinMode(MCenA, OUTPUT);
  pinMode(MCenB, OUTPUT);
  pinMode(MCin1, OUTPUT);
  pinMode(MCin2, OUTPUT);
  pinMode(MCin3, OUTPUT);
  pinMode(MCin4, OUTPUT);
  
}
void loop() {

  // Read each light sensor
  s1 = digitalRead(in1);
  s2 = digitalRead(in2);
  s3 = digitalRead(in3);
  s4 = digitalRead(in4);
  s5 = digitalRead(in5);

  // Print ligth sensor reading to Serial Monitor (Ctrl + Shift + M to view)
  Serial.print("Sensors");
  Serial.print("\t");
  Serial.print(s1);
  Serial.print("\t");
  Serial.print(s2);
  Serial.print("\t");
  Serial.print(s3);
  Serial.print("\t");
  Serial.print(s4);
  Serial.print("\t");
  Serial.print(s5);
  Serial.print("\t");

  // Set Motor A forward by default
  digitalWrite(MCin1, LOW);
  digitalWrite(MCin2, HIGH);
  // Set Motor B forward by default
  digitalWrite(MCin3, LOW);
  digitalWrite(MCin4, HIGH);
  
  TurnRight();
  delay(1000);

  Stop();
  delay(1000);

  TurnLeft();
  delay(1000);

  Stop();
  delay(1000);

  DriveStraight();
  delay(1000);
  
  Stop();
  delay(1000);
}

void DriveStraight() {
  Serial.print("Drive straight (IN LOOP.)");

  // Set motor speeds
  motorSpeedA = 150;
  motorSpeedB = 150;

  // Print motor speed to monitor.
  Serial.print("Motor Speeds.");
  Serial.print("\t");
  Serial.print(motorSpeedA);
  Serial.print("\t");
  Serial.println(motorSpeedB);

  // Send motor speeds to motor
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B
}

void TurnRight() {
  Serial.print("Turn Right (IN LOOP.)");

  // Set motor speeds
  motorSpeedA = 0;
  motorSpeedB = 150;

  // Print motor speed to montor.
  Serial.print("Motor Speeds.");
  Serial.print("\t");
  Serial.print(motorSpeedA);
  Serial.print("\t");
  Serial.println(motorSpeedB);

  // Send motor speeds to motor
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B
}

void TurnLeft() {
  Serial.print("Turn Left (IN LOOP.)");

  // Set motor speeds
  motorSpeedA = 150;
  motorSpeedB = 0;

  // Print motor speed to montor.
  Serial.print("Motor Speeds.");
  Serial.print("\t");
  Serial.print(motorSpeedA);
  Serial.print("\t");
  Serial.println(motorSpeedB);

  // Send motor speeds to motor
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B
}

void Stop() {
  Serial.print("Stop (IN LOOP.)");
  
  // Set motor speeds
  motorSpeedA = 0;
  motorSpeedB = 0;

  // Print motor speed to montor.
  Serial.print("Motor Speeds.");
  Serial.print("\t");
  Serial.print(motorSpeedA);
  Serial.print("\t");
  Serial.println(motorSpeedB);
  
  // Send motor speeds to motor
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B
}</code></span></span>

巡线代码

使用此代码来运行巡线机器人（车）。

/*
    This is the run code for the line follower.

    For instructions, please click the link below.
*/

// Motor A - Left Motor
#define MCenA 11
#define MCin1 13
#define MCin2 12

// Motor B - Right Motor
#define MCenB 9
#define MCin3 8
#define MCin4 10

// Set inital speed for Motors
int motorSpeedA = 0;
int motorSpeedB = 0;

// Initialise light sensors

int in1 = 3;
int in2 = 4;
int in3 = 5;
int in4 = 6;
int in5 = 7;

int s1 = 0;
int s2 = 0;
int s3 = 0;
int s4 = 0;
int s5 = 0;

void setup() {
  // Open serial connection to display values in Monitor if connected
  Serial.begin(9600);
  Serial.println("Light sensor test");

  // Initialize the Arduino ports for the Motor Controller
  pinMode(MCenA, OUTPUT);
  pinMode(MCenB, OUTPUT);
  pinMode(MCin1, OUTPUT);
  pinMode(MCin2, OUTPUT);
  pinMode(MCin3, OUTPUT);
  pinMode(MCin4, OUTPUT);

  // Initialise sensor inputs:
  pinMode(in1,INPUT);
  pinMode(in2,INPUT);
  pinMode(in3,INPUT);
  pinMode(in4,INPUT);
  pinMode(in5,INPUT);
  
}
void loop() {

  // 读取传感器数据
  s1 = digitalRead(in1);
  s2 = digitalRead(in2);
  s3 = digitalRead(in3);
  s4 = digitalRead(in4);
  s5 = digitalRead(in5);

  Serial.print("Sensors");
  Serial.print("\t");
  Serial.print(s1);
  Serial.print("\t");
  Serial.print(s2);
  Serial.print("\t");
  Serial.print(s3);
  Serial.print("\t");
  Serial.print(s4);
  Serial.print("\t");
  Serial.print(s5);
  Serial.print("\t");



  // 设置左右轮向前运动
  digitalWrite(MCin1, LOW);
  digitalWrite(MCin2, HIGH);
  digitalWrite(MCin3, LOW);
  digitalWrite(MCin4, HIGH);


  if ((s2 == 1) && (s4 == 1)) {
    // Serial.print("Drive straight.");
    DriveStraight();
  }
  else if ((s2 == 0) && (s4 == 1)) {
    // Serial.print("Turn Right.");
    TurnRight();
  }
  else if ((s2 == 1) && (s4 == 0)) {
    // Serial.print("Turn Left.");
    TurnLeft();
  }
  else if ((s1 == 0) && (s2 == 0) && (s3 == 0) && (s4 == 0) && (s5 == 0)) {
    // Serial.print("Drive straight.");
    DriveStraight();
  }
  else {
    // Serial.print("STOP.");
    Stop();
  }

  delay(10);

  motorSpeedA = 0;
  motorSpeedB = 0;
  
  // 设置马达速度
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B

  delay(10);
  
}

void DriveStraight() {
  Serial.print("Drive straight (IN LOOP.)");

  // Set motor speeds
  motorSpeedA = 150;
  motorSpeedB = 150;

  // Print motor speed to montor.
  Serial.print("Motor Speeds.");
  Serial.print("\t");
  Serial.print(motorSpeedA);
  Serial.print("\t");
  Serial.println(motorSpeedB);

  // Send motor speeds to motor
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B
}

void TurnRight() {
  Serial.print("Turn Right (IN LOOP.)");
  //小车向右转，左轮停止，右轮速度150
  // Set motor speeds
  motorSpeedA = 0;
  motorSpeedB = 150;

  // Print motor speed to montor.
  Serial.print("Motor Speeds.");
  Serial.print("\t");
  Serial.print(motorSpeedA);
  Serial.print("\t");
  Serial.println(motorSpeedB);

  // 传送信号，开始运动
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B
}

void TurnLeft() {
  Serial.print("Turn Left (IN LOOP.)");

  // 右轮速度0，左轮速度150向右转。
  motorSpeedA = 150;
  motorSpeedB = 0;

  // Print motor speed to montor.
  Serial.print("Motor Speeds.");
  Serial.print("\t");
  Serial.print(motorSpeedA);
  Serial.print("\t");
  Serial.println(motorSpeedB);

  // 传送信号，开始运动
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B
}

void Stop() {
  Serial.print("Stop (IN LOOP.)");
  
  // Set motor speeds
  motorSpeedA = 0;
  motorSpeedB = 0;

  // Print motor speed to montor.
  Serial.print("Motor Speeds.");
  Serial.print("\t");
  Serial.print(motorSpeedA);
  Serial.print("\t");
  Serial.println(motorSpeedB);
  
  // Send motor speeds to motor
  analogWrite(MCenA, motorSpeedA); // Send PWM signal to motor A
  analogWrite(MCenB, motorSpeedB); // Send PWM signal to motor B
}

在您的机器人上运行代码

安装光传感器。

光传感器需要安装在正确的高度才能正常工作。

现在您应该已将线路传感器连接到 Arduino。

如果已连接，您可以使用 USB 电缆将 Arduino 连接到计算机。它将为您的 Arduino 提供电源，并且也足以为线路传感器供电。

如果线路传感器通电，您应该看到线路传感器上至少有一个红色 LED 亮起。

如果您没有看到任何 LED 亮起，请检查接线是否松动且连接正确。

现在获取一块轨道，看看线传感器是否可以检测到该线。

通过在不同高度移动传感器穿过线路进行实验。

警告：线传感器检测红外光。太阳是红外线光源，会干扰您的传感器并导致错误读数。

使用传感器时，请尝试遮挡所有阳光和其他红外光源。

最好在夜间没有阳光的情况下操作。

当线路传感器穿过线路时，您应该看到每个传感器 LED 打开和关闭。

继续尝试离地面不同的高度。

我们的传感器电路板距离瓷砖大约 20 毫米。

当您对适合您的传感器高度感到满意时，请使用支架来固定高度。

我们使用小型和中型支架来达到所需的高度。