有人可以指出这两个代码之间的主要区别吗？[已结束]

问：

这是我朋友的代码

//BLUETOOTH + INPUTS
#include "BluetoothSerial.h"
#include <ESP32Servo.h>

#if !defined(CONFIG_BT_ENABLED)  !defined(CONFIG_BLUEDROID_ENABLED)
#error Bluetooth is not enabled! Please run `make menuconfig` and enable it.
#endif
BluetoothSerial SerialBT;
Servo myservo;

int servoPin = 26;

// IR SENSOR (4 PINS)
 
#define SENSOR_PIN_MID 12           // connected to D0  // mid
#define SENSOR_PIN_RIGHT 13         //right
#define SENSOR_PIN_LEFT 14          // left

// MOTOR
const int mot1right = 15;           //motor 1 = backward motor 2 = forward
const int mot2right = 2;
const int mot1left = 17;
const int mot2left = 16;
bool isAuto = false;                // false = manually control; true = autonamous

//IR black and white
int remember = 0;


void setup() {
  // initialize the ESP's pin for motor as output
  pinMode (mot1right, OUTPUT);
  pinMode (mot2right, OUTPUT);

  // initialize the ESP's pin as an input
  pinMode (SENSOR_PIN_MID, INPUT);
  pinMode (SENSOR_PIN_RIGHT, INPUT);
  pinMode (SENSOR_PIN_LEFT, INPUT);


  Serial.begin(115200);           //<<<<< check nak 115200 atau 9600
  SerialBT.begin("Group 8");
  Serial.println("The device started, now you can pair it with Bluetooth!");
  myservo.attach(servoPin,500,2400);
}

void loop() {
  if (isAuto == false) {

    if (SerialBT.available()) {
      char inputChar = SerialBT.read();
      
      // Check the received character and send a response over Bluetooth
      if (inputChar == 'F') {
        Serial.println("You entered 'A'. This is the response for 'A'.");   //Go Foward
        analogWrite(mot1left, 0);                                         
        analogWrite(mot2left, 255);
        analogWrite(mot1right, 0);
        analogWrite(mot2right, 255);
        delay(500);

      } 
      else if (inputChar == 'B') {
        Serial.println("You entered 'B'. This is the response for 'B'.");   //Go Backward
        analogWrite(mot1left, 255);
        analogWrite(mot2left, 0);
        analogWrite(mot1right, 255);
        analogWrite(mot2right, 0);
        delay(500);
      } 
      else if (inputChar == 'L') {
        Serial.println("You entered 'L'. This is the response for 'L'.");   //Go Left (Foward)
        analogWrite(mot1left, 0);
        analogWrite(mot2left, 255);
        analogWrite(mot1right, 255);
        analogWrite(mot2right, 0);
        delay(500);
      } 
      else if (inputChar == 'R') {
        Serial.println("You entered 'R'. This is the response for 'R'.");   //Go Right (Foward)
        analogWrite(mot1left, 255);
        analogWrite(mot2left, 0);
        analogWrite(mot1right, 0);
        analogWrite(mot2right, 255);
        delay(500);
      } 
      else if (inputChar == 'LB') {
        Serial.println("You entered 'LB'. This is the response for 'LB'.");   //Go Left Backward
        analogWrite(mot1left, 255);
        analogWrite(mot2left, 0);
        analogWrite(mot1right, 0);
        analogWrite(mot2right, 255);
        delay(500);
      } 
      else if (inputChar == 'RB') {
        Serial.println("You entered 'RB'. This is the response for 'RB'.");   //Go Right Backward
        analogWrite(mot1left, 0);
        analogWrite(mot2left, 255);
        analogWrite(mot1right, 255);
        analogWrite(mot2right, 0);
        delay(500);
      } 
      else if (inputChar == 'X') {
        Serial.println("You entered 'X'. This is the response for 'X'.");   //Go Right Backward
        analogWrite(mot1left, 0);
        analogWrite(mot2left, 0);
        analogWrite(mot1right, 0);
        analogWrite(mot2right, 0);
        delay(500);
      }
      else  if (inputChar == 'O') {  //servo open
        myservo.write(90);
      }
      else  if (inputChar == 'C') {  //servo close
        myservo.write(0);
      }
      else  if (inputChar == 'Y') {  //switch to automatic
        isAuto = true;
      } else {
        Serial.println("Unknown input. Please enter 'A' / 'B' / 'R' / 'L' / 'RB' / 'LB' / 'X' to get a response.");
      }

      
    }


  } 

  else {
    int stateM = digitalRead(SENSOR_PIN_MID);
    int stateR = digitalRead(SENSOR_PIN_RIGHT);
    int stateL = digitalRead(SENSOR_PIN_LEFT);

    if (SerialBT.available()) {            // switch back to manual
      char inputChar = SerialBT.read();
       if (inputChar == 'Y') {
        isAuto = false;
      } 
    }

    if(stateL == LOW && stateM == HIGH && stateR == LOW) {
      mid();
      remember = 1;
      delay(30);
    } else if ((stateL == LOW && stateM == HIGH && stateR == HIGH)  (stateL == LOW && stateM == LOW && stateR == HIGH)) {
      right();
      remember = 2;
      delay(37);
    } else if ((stateL == HIGH && stateM == HIGH && stateR == LOW) || (stateL == HIGH && stateM == LOW && stateR == LOW)) {  
      left();
      delay(37);
      remember = 3;
    } else if ((stateL == LOW && stateM == LOW && stateR == LOW)){
      /*switch(remember){
        case 1: mid(); break;
        case 2: left(); break;
        case 3: right(); break;
        default: break;
      }*/
      ;
    }
    else {
      stopAndShoot();
      remember = 0;
    }



  }
}

void mid() {                                       // IR MID
  // read the state of the the input pin:                                // high = 1 // WHITE surface
  Serial.println("The obstacle is present");
  analogWrite(mot1left, 50);                                         
  analogWrite(mot2left, 255);                         //stop
  analogWrite(mot1right, 50);
  analogWrite(mot2right,  255);
}

void left(){
  Serial.println("The obstacle is present");
  analogWrite(mot1left, 0);                                         
  analogWrite(mot2left, 0);                         //stop
  analogWrite(mot1right, 50);
  analogWrite(mot2right, 255);


}
void right(){
  Serial.println("The obstacle is present");
  analogWrite(mot1left, 50);                                         
  analogWrite(mot2left, 255);                         //stop
  analogWrite(mot1right, 0);
  analogWrite(mot2right, 0);


}
void stopAndShoot(){
  Serial.println("The obstacle is present");
  analogWrite(mot1left, 0);                                         
  analogWrite(mot2left, 0);                         //stop
  analogWrite(mot1right, 0);
  analogWrite(mot2right, 0);


}

这是我的

#include "BluetoothSerial.h"
#include <ESP32Servo.h>

#if !defined(CONFIG_BT_ENABLED) || !defined(CONFIG_BLUEDROID_ENABLED)
#error 
#endif

const int mot1right = 13;
const int mot2right = 12;
const int mot1left = 2;
const int mot2left = 15;
const int sensorleft = 16;
const int sensormid = 5;
const int sensorright = 34;
int servoPin1 = 26;
int servoPin2 = 27;

BluetoothSerial SerialBT;
Servo Servo1, Servo2;
bool automaticMode;

void setup() {
  Serial.begin(115200);
  SerialBT.begin("kete");
  pinMode(mot1right, OUTPUT);
  pinMode(mot2right, OUTPUT);
  pinMode(mot1left, OUTPUT);
  pinMode(mot2left, OUTPUT);
  pinMode(sensorleft, INPUT);
  pinMode(sensormid, INPUT);
  pinMode(sensorright, INPUT);
  Servo1.attach(servoPin1);
  Servo2.attach(servoPin2);
}

void move() {
  analogWrite(mot1left, 255);
  analogWrite(mot2left, 0);
  analogWrite(mot1right, 0);
  analogWrite(mot2right, 255);
  Serial.println("moto jalan depan");
}

void berhenti() {
  analogWrite(mot1left, 0);
  analogWrite(mot2left, 0);
  analogWrite(mot1right, 0);
  analogWrite(mot2right, 0);
}

void back() {
  analogWrite(mot1left, 0);
  analogWrite(mot2left, 255);
  analogWrite(mot1right, 255);
  analogWrite(mot2right, 0);
  Serial.println("moto jalan blakang");
}

void kanan() {
  analogWrite(mot1left, 0);
  analogWrite(mot2left, 0);
  analogWrite(mot1right, 0);
  analogWrite(mot2right, 200);
  Serial.println("moto jalan kanan");
}

void kiri() {
  analogWrite(mot1left, 200);
  analogWrite(mot2left, 0);
  analogWrite(mot1right, 0);
  analogWrite(mot2right, 0);
  Serial.println("moto jalan kiri");
}

void toggleMode(char command) {
  if (command == 'X') {
    automaticMode = true;
    Serial.println("Automatic mode activated");
  } else if (command == 'Y') {
    automaticMode = false;
    Serial.println("Remote control mode activated");
  }
}

void loop() {
int stateL = digitalRead(sensorleft);
int stateM = digitalRead(sensormid);
int stateR = digitalRead(sensorright);

  if (SerialBT.available()) {
    char inputChar = SerialBT.read();
    toggleMode(inputChar);

    if (automaticMode==true) {
    if ((stateM == LOW && stateL == HIGH && stateR == HIGH)){
     move();
     Serial.println("depan");
    }
    else if ((stateL == LOW && stateM == HIGH && stateR == HIGH)){
     kiri();
     Serial.println("kiri");
    }
    else if ((stateR == LOW && stateL == HIGH && stateM == HIGH)){
     kanan();
     Serial.println("kanan");
    }
    else if ((stateR == LOW && stateL == HIGH && stateM == LOW)){
     kanan();
     Serial.println("kanan");
    }
    else if ((stateR == HIGH && stateL == LOW && stateM == LOW)){
     kiri();
     Serial.println("kiri");
    }
    else if ((stateR == LOW && stateL == LOW && stateM == LOW)){
     berhenti();
     Serial.println("benti");
    }
    }
  else{
switch (inputChar){
  case 'F':
    move ();
    Serial.println(inputChar);
    break;
  case 'R':
    kanan ();
    Serial.println(inputChar);
    break;
  case 'L':
    kiri ();
    Serial.println(inputChar);
    break;
  case 'G':
    back ();
    Serial.println(inputChar);
    break;
  default:
   berhenti();
   break;
}
    if (inputChar == 'J'){
     Serial.println(inputChar);
     int angle1 = SerialBT.parseInt();
     Servo1.write(angle1);
    }
    if (inputChar == 'K'){
     Serial.println(inputChar);
     int angle2 = SerialBT.parseInt();
     Servo2.write(angle2);
    }
  }
if (SerialBT.available()) {
Serial.write(SerialBT.read());
}
delay(1);
}
}

我会解释这个问题。传感器和电机确实可以工作，但除非我按“X”，否则它会保持这种状态。“X”作为提示我在自动和远程控制代码之间切换，所以是的。

无论如何，我将给出上述问题的示例，当我按“X”并且中间传感器没有检测到光时，它会直线移动。即使条件发生变化，它也会保持笔直。例如，如果它已经直线移动，尽管传感器条件匹配，但它不会向左/向右移动。

尽管一周内有考试，但我已经为比赛工作了几天。我不知道该问谁。

提前致谢