转弯最终版.c

本人学习单片机一年多时间厚参加全国电子设计大赛的程序以及赛前练习的程序。

#include<reg51.h>

sbit P1_0=P1^0;
sbit P1_1=P1^1;
sbit P1_2=P1^2;
sbit P1_3=P1^3;
sbit P2_0=P2^0;
sbit P2_1=P2^1;

unsigned int yichu,dir,now=1,qian,gao=61536,di=59536,fangxiang=1;
unsigned int i,j,k,l,m,x,y,z;
unsigned char deng,jinru,jinru2=0,saomiao,yanshi;
unsigned char th,tl;

void delay(void);     //50ms
void Init(void);
void panduan(void);

void timer0(void) interrupt 1
{yichu++;
 if(yichu==1)
 {yichu=0;
  x++;
  if(fangxiang==1)
  {P1_2=0;
   if(P1_3==0)
    P1_3=1;
   else
    P1_3=0;
	}
  else if(fangxiang==2)
  {P1_3=0;
   if(P1_2==0)
    P1_2=1;
   else
    P1_2=0;
   }
  if(x%2==1)
  {th=gao/256;
   tl=gao%256;
	}
  else
  {th=di/256;
   tl=di%256;
	}
 }
 TH0=th;
 TL0=tl;
}

main()
{Init();

 for(;;)             //000 000 00     任意传感器检测到黑线就跳出
 {saomiao=P2&0x1C;
  if(saomiao<0x1C)
   break;
  if(P2_0==0)
   {P1_0=1;
    P1_1=0;
	 delay();
    break;
    }
  else if(P2_1==0)
  {P1_0=0;
   P1_1=1;
	delay();
   break;
   }
  }

 for(;;)                        //中间三组传感器中任意一个检测到黑线就跳出
 {saomiao=P2&0x1C;
  if(saomiao<0x1C)
  {break;
	}
  if(saomiao==0x1C)
  {if(z==0)
   {delay();
	 y++;
	 if(y==5)            //调节小角度转弯灵敏度
	 {P1_0=!P1_0;
	  P1_1=!P1_1;
	  z=1;
	  }
	 }
   continue;
	}
  }

 for(;;)
 {deng=P2&0x1C;
  panduan();
  }  
}

void delay()
{unsigned int i,j;
 for(i=0;i<50;i++)
  for(j=0;j<120;j++)
 ;
}

void Init(void)
{P1_0=0;
 P1_1=0;
 P1_2=0;
 P1_3=0;

 EA=1;
 ET0=1;
 TMOD=0x01;
 TH0=0xEC;    //2ms
 TL0=0x78;
 TR0=1;
}

void panduan(void)
{
//记录当前状态,和先前状态
 if(deng==0x1C)     // 000 111 00
  {qian=now;
   now=1;
   }
 else if(deng==0x14)// 000 101 00
 {qian=now;
  now=2;
  }
  else if(deng==0x04)// 000 001 00
  {qian=now;
   now=3;
   }
  else if(deng==0x0C)// 000 011 00
  {qian=now;
   now=4;
   }
  else if(deng==0x10)// 000 100 00
  {qian=now;
   now=5;
   }
  else if(deng==0x18)// 000 110 00
  {qian=now;
   now=6;
   }
  else if(deng==0x00)// 000 000 00
  {qian=now;
   now=7;
   }
  else if(deng==0x08)// 000 010 00
  {qian=now;
   now=8;
   }

//  判断
  if(now==1)
  {if(qian==3||qian==4)
   {P1_0=1;
    P1_1=0;
    delay();
	 }
	else if(qian==5||qian==6)
	{P1_0=0;
    P1_1=1;
    delay();
	 }
	else
	{delay();
	 }
	}
  else if(now==2)
  {P1_0=0;
   P1_1=0;
	delay();
   }
  else if(now==3)
  {if(qian==1)
   {P1_0=0;
    P1_1=1;
    delay();
    }
   else if(qian==2)
   {P1_0=1;
    P1_1=0;
    delay();
    }
	else if(qian==5||qian==6)
	{P1_0=1;
	 P1_1=0;
	 delay();
	 }
   else
   {delay();
	 }
   }
  else if(now==4)
  {P1_0=1;
	P1_1=0;
	delay();
   }
  else if(now==5)
  {if(qian==1)
   {P1_0=1;
    P1_1=0;
    delay();
    }
   else if(qian==2)
   {P1_0=0;
    P1_1=1;
    delay();
    }
   else if(qian==3||qian==4)
   {P1_0=0;
    P1_1=1;
    delay();
    }
   else
   {;
	 }
   }
 else if(now==6)
  {P1_0=0;
   P1_1=1;
   delay();
   }
 else if(now==7)
  {;
   }
 else if(now==8)
  {;
   }
}