#include

#include

#include

int var_speed;

int var_black;

int var_begin;

U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_NONE);

Motor MotorLeft(MOTOR0_PINA, MOTOR0_PINB);

Motor MotorRight(MOTOR1_PINA, MOTOR1_PINB);

void setup()

{

MotorLeft.begin();

MotorRight.begin();

var_speed=40;

var_begin=0;

}

void loop()

{

delay(0.1*1000);

var_black=analogRead(A6);

u8g.setFont(u8g_font_9x15);

u8g.firstPage();

do

{

u8g.setPrintPos(10, 10);

u8g.print(String("B1：")+String((var_black)));

u8g.setPrintPos(10, 30);

u8g.print(String("A0：")+String((analogRead(A0))));

u8g.setPrintPos(10, 50);

u8g.print(String("A2：")+String((analogRead(A2))));

}

while (u8g.nextPage());

if(((((analogRead(A0)) < (var_black))) && (((analogRead(A2)) < (var_black)))))

{

MotorLeft.setSpeed(var_speed);

MotorRight.setSpeed(0-(var_speed));

}

else

{

if(((analogRead(A0)) > (var_black)))

{

MotorLeft.setSpeed(0);

MotorRight.setSpeed(0-(var_speed));

}

else

{

MotorLeft.setSpeed(var_speed);

MotorRight.setSpeed(0);

}

}

}