arduino - 红外传感器控制避免黑线，Arduino Nano

Question

我正在尝试对 arduino nanobot 进行编程以避免出现黑线。ITR20001/T 传感器和 nano 使用 I2C 连接。问题是我的传感器似乎只有在我打开机器人后才立即工作，而传感器停止响应。

void loop() {
Wire.beginTransmission(STM8S003F3_IR_devAddr);
Wire.write(110);
Wire.endTransmission();
uint8_t STM8S003F3_IR_IIC_buff[8];
uint8_t a = 0;
static uint8_t cout = 0;
Wire.requestFrom(STM8S003F3_IR_devAddr, 8);
while (Wire.available()) // slave may send less than requested
{
    STM8S003F3_IR_IIC_buff[a++] = Wire.read(); // receive a byte as character
}
if ((STM8S003F3_IR_IIC_buff[0] == 0XA0) && (STM8S003F3_IR_IIC_buff[7] == 0XB0)) {
    TrackingData_R = (STM8S003F3_IR_IIC_buff[1] << 8) | (STM8S003F3_IR_IIC_buff[2]);
    TrackingData_L = (STM8S003F3_IR_IIC_buff[3] << 8) | (STM8S003F3_IR_IIC_buff[4]);
    TrackingData_M = (STM8S003F3_IR_IIC_buff[5] << 8) | (STM8S003F3_IR_IIC_buff[6]);
    cout = 0;

    if (TrackingData_R > 200 && TrackingData_R <= 860) {
        left();
    } else if (TrackingData_L > 200 && TrackingData_L <= 860) {
        right();
    } else if (TrackingData_M > 200 && TrackingData_M <= 860) {
        around();
        forward();
    } else {
        forward();
    }

} else {
    /* code */
    //Serial.println("Contact Changhua :STM8S003F3_IR data error"); // print the character
    cout += 1;
    if (cout > 250) {
        Wire.beginTransmission(STM8S003F3_IR_devAddr);
        Wire.write(110);
        Wire.endTransmission();
    }
    return;
}

}