寻轨小车程序=

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1、#include#defineucharunsignedchar#defineuintunsignedintucharpwm;uchara;voidforward();              //前voidturnleft();               //左voidturnright();               //右voidstop();                 //停                                   sbitm1z=P2^0;    //定义电机端口（高电平有效）sbitm1f

2、=P2^1;sbitm2z=P2^2;sbitm2f=P2^3;sbitd1=P2^4;    //定义灯端口sbitd2=P2^5;sbitd3=P2^6;      //定义红反射外传感器端口(反射白色面时为高电平，反射黑色面或无反射时为低电平)sbithwcg1=P1^0;sbithwcg2=P1^1;sbithwcg3=P1^2;/*-----------------------------------------------------------------------------------------------*/voidms(c)     

3、                 //PWM{uintb;while(c--){for(b=0;b<500;b++);}}/*--------------------------------------------------------------------------------------------------                                                    初始化-------------------------------------------------------------------

4、---------------------------------*/voiddelay_ms(uintc)               //延时程序{while(c--){uchara;for(a=0;a<123;a++);}}voidinit_all(void)                   //初始化程序{  P1=0x00;  P2=0x00;delay_ms(6000);}/*-------------------------------------------------------------------------------------

5、-----------                                                         前后左右电机转法             -------------------------------------------------------------------------------------------------*/voidforward()                       //向前{if(hwcg1==1&&hwcg2==0&&hwcg3==1){   P2=0X30;   delay_m

6、s(10);  if(hwcg1==1&&hwcg2==0&&hwcg3==1)  {     m1z=m2z=0xff;   ms(4);  m1z=m2z=0x00;   ms(2);   while(hwcg1==1&&hwcg2==0&&hwcg3==1)    {     m1z=m2z=0xff;   ms(2);  m1z=m2z=0x00;   ms(3);      }   }  }}voidrecede()                       //向后{if(hwcg1==1&&hwcg2==1&&hwcg3==1){   P2=0

7、X30;   delay_ms(10);  if(hwcg1==1&&hwcg2==1&&hwcg3==1)  {     m1f=m2f=0xff;   ms(4);  m1f=m2f=0x00;   ms(2);   while(hwcg1==1&&hwcg2==1&&hwcg3==1)    {     m1f=m2f=0xff;   ms(3);  m1f=m2f=0x00;   ms(3);      }}  }}/*-------------------------------------------------------------------

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