寻轨小车程序.doc

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1、#include#defineucharunsignedchar#defineuintunsignedintuchari,flag,line;sbitP10=P1^0;sbitP11=P1^1;sbitP12=P1^2;sbitP13=P1^3;sbitA1=P3^0;sbitC1=P3^1;sbitheidai=P3^2;voiddelay(uintxms)//延时{uinti,j;for(i=xms;i>0;i--)for(j=115;j>0;j--);}voidqianjin(){P10=0;P11=

2、1;P12=0;P13=1;}voidtingzhi(){P10=1;P11=1;P12=1;P13=1;}voidzuoguai(){P10=0;P11=1;P12=1;P13=1;}voidyouguai(){P10=1;P11=1;P12=0;P13=1;}voidhoutui(){P10=1;P11=0;P12=1;P13=0;}voidjiansu()//jiansu{qianjin();delay(10);tingzhi();delay(20);}voidextern0()interrupt0{line++;fl

3、ag++;if(line==7)line=1;}voidinit_timer(){TMOD=0x11;TH0=0x3c;TL0=0xb0;EA=1;ET0=1;EX0=1;EX1=1;IT0=1;IT1=1;TR0=1;}voidcontrol()//总控制{if(flag==0){qianjin();}if(flag==1){qianjin();}if(flag==2){while(1){jiansu();if(heidai==1)break;}}if(flag==3){qianjin();}if(flag==4){whi

4、le(1){jiansu();if(heidai==1)break;}}/*if(flag==5){motor_t();delay(9000);motor_zhuan();delay(500);while(1){motor_q();if(heidai==1)break;}}*/if(flag==5

5、

6、flag==6

7、

8、flag==7

9、

10、flag==8){qianjin();}if(flag==9){tingzhi();}}voidmain()//主函数{delay(100);init_timer();while(1){//i

11、f(heidai==1)//检测//{//Delay_ms(50);//while(heidai)//motor_q();//flag++;//}//if(lucheng==0)//测路程//{//length+=10;//}if(A1==0)//xunji{youguai();delay(100);}if(C1==0){zuoguai();delay(100);}control();//总控制}}