红外避障小车c语言程序.doc

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1、智能小车红外避障c语言程序#includebitRandomFactor=0;bitRandomFactorBuf=0;#include#defineFLeftMotorP0_2=1;P0_3=0#defineBLeftMotorP0_2=0;P0_3=1#defineFRightMotorP0_5=1;P0_4=0#defineBRightMotorP0_5=0;P0_4=1#defineLeftStop   P0_2=0;P0_3=0#defineRightStop  P0_4=0;P0_5=0#def

2、ineCarStopP0_2=0;P0_3=0;P0_4=0;P0_5=0#defineRightSenserP0_0#defineLeftSenserP0_1//********************************************************//左转//********************************************************voidTurnLeft_1(){LeftStop;FRightMotor;}//***********************************

3、*********************//快速左转//********************************************************voidTurnLeft_Fast(){BLeftMotor;FRightMotor;}//********************************************************//右转//********************************************************voidTurnRight_1(){RightStop

4、;FLeftMotor;}//********************************************************//快速右转//********************************************************voidTurnRight_Fast(){BRightMotor;FLeftMotor;}//********************************************************//用倒退的方式进行车头右转//**********************

5、**********************************voidBTurnRight_1(){LeftStop;BRightMotor;}//********************************************************//用倒退的方式进行车头左转//********************************************************voidBTurnLeft_1(){RightStop;BLeftMotor;}//*****************************

6、***************************//前进//********************************************************voidFCar(){FLeftMotor;FRightMotor;}//********************************************************//后退//********************************************************voidBCar(){BLeftMotor;BRightMoto

7、r;}//********************************************************//壁障程序//********************************************************voidObstacle_Avoid(void){if(RightSenser&&LeftSenser&&PWM){  FCar();}if((!RightSenser)&&LeftSenser&&PWM){  BTurnLeft_1();}if(RightSenser&&(!LeftSenser)&

8、&PWM){  BTurnRight_1();   }if(!(RightSenser

9、

10、LeftSenser)){    Random