1. #define speeds 150      //宏定义speeds
    2. //--------------------------------电机部分------------------------------//
    3. //32左前，45右前，67左后，89右后
    5. void _M_Init() {   //电机初始化
    6.   for (int i = 2; i <= 9; i++)
    7.   {
    8.     pinMode(i, OUTPUT);
    9.     analogWrite(i, 0);
    10.   }
    11. }
    13. void _M_Front(int pin1, int pin2, int _speed) {
    14.   analogWrite(pin1, _speed);
    15.   analogWrite(pin2, 0);
    16. }
    17. void _M_Back(int pin1, int pin2, int _speed) {
    18.   analogWrite(pin2, _speed);
    19.   analogWrite(pin1, 0);
    20. }
    21. void _M_Stop(int pin1,int pin2) {
    22.   analogWrite(pin1,255);
    23.   analogWrite(pin2,255);
    25. }
    27. //-----------------------------前进---------电机全部正转-----------------------//
    28. //左前76，右前45，左后89，右后23
    29. void _M_GoFront(int _speed) { 
    30.   //右后23，
    31.   //直行时四个轮子全部正转
    32.   _M_Front(7, 6, _speed + 0);//左前
    33.   _M_Front(8, 9, _speed + 0);//左后
    34.   static int i=0;
    35.   if(i=0)
    36.   {i++;
    37.     delay(375);
    38.     }
    41.   _M_Front(4, 5, _speed + 10);//右前
    42.    _M_Front(2, 3, _speed + 0);//右后
    44. }
    45. //-----------------------------后退---------电机全部反转------------------------//
    46. void _M_GoBack(int _speed) {
    47.   _M_Back(7, 6, _speed + 0);
    48.   _M_Back(4, 5, _speed + 0);
    49.   _M_Back(8, 9, _speed + 0);
    50.   _M_Back(2, 3, _speed + 0);
    51. }
    52. //--------------------------------------左横行-------------------------------//
    53. void _M_GoLeft(int _speed){
    54.     _M_Back(7, 6, _speed +0 );
    55.     _M_Front(4, 5,_speed +0);
    56.     _M_Front(8, 9,_speed +0);
    57.     _M_Back(2, 3,_speed +0);
    58. }
    59. //--------------------------------------右横行-------------------------------//
    60. void _M_GoRight(int _speed){
    61.     _M_Front(7, 6,  _speed +0);
    62.     _M_Back(4, 5, _speed +0);
    63.     _M_Back(8, 9, _speed +0);
    64.     _M_Front(2, 3, _speed +0);
    65. }
    66. //--------------------------------------右前走------------------------------//
    67. void _MGo_youqian(int _speed){
    68.     _M_Front(7, 6,  _speed +0);
    69.     _M_Stop(4,5);
    70.     _M_Front(8, 9, _speed +0);
    71.     _M_Stop(2,3);
    72. }
    73. //---------------------------------------左前走-----------------------------//
    74. void _MGo_zuoqian(int _speed){
    75.     _M_Stop(7,6);
    76.     _M_Front(4, 5, _speed +0);
    77.     _M_Stop(8,9);
    78.     _M_Front(2, 3, _speed +0);
    79. }
    80. //---------------------------------------左后走----------------------------//
    81. void _MGo_zuohou(int _speed){
    82.     _M_Back(7, 6, _speed +0);
    83.     _M_Stop(4,5);
    84.     _M_Back(8, 9, 255);
    85.     _M_Stop(2,3);
    86. }
    87. //--------------------------------------右后走----------------------------//
    88. void _MGo_youhou(int _speed){
    89.     _M_Stop(7,6);
    90.     _M_Back(4, 5,_speed +0 );
    91.     _M_Back(8, 9,_speed +0);
    92.     _M_Stop(2,3);
    93. }
    94. void setup() {
    95.   _M_Init() ;
    96. }
    98. void loop() {
    99.  _M_GoFront(speeds);
    101. }