后续来了

MsTimer2::set(2, flash); //使用Timer2设置1ms定时中断
MsTimer2::start();
}

int Front()
{
digitalWrite(T1, LOW);
delayMicroseconds(2);
digitalWrite(T1, HIGH);
delayMicroseconds(10);
digitalWrite(T1, LOW);
float distance = pulseIn(E1, HIGH);
distance = distance / 58;
return distance;
}
int Front_1()
{
digitalWrite(T4, LOW);
delayMicroseconds(2);
digitalWrite(T4, HIGH);
delayMicroseconds(10);
digitalWrite(T4, LOW);
float distance = pulseIn(E4, HIGH);
distance = distance / 58;
return distance;
}
int backward()
{
digitalWrite(T5, LOW);
delayMicroseconds(2);
digitalWrite(T5, HIGH);
delayMicroseconds(10);
digitalWrite(T5, LOW);
float distance = pulseIn(E5, HIGH);
distance = distance / 58;
return distance;
}
int Right()
{
digitalWrite(T2, LOW);
delayMicroseconds(2);
digitalWrite(T2, HIGH);
delayMicroseconds(10);
digitalWrite(T2, LOW);
float distance = pulseIn(E2, HIGH);
distance = distance / 58;
return distance;
}