trace.lst

本程序实现小车对白色背景下黑色线条的寻迹, 效果良好

C51 COMPILER V8.08   TRACE                                                                 08/10/2007 21:36:55 PAGE 1   


C51 COMPILER V8.08, COMPILATION OF MODULE TRACE
OBJECT MODULE PLACED IN trace.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE trace.c BROWSE DEBUG OBJECTEXTEND

line level    source

   1          #include <at89X52.h>  //left--P32,  right ---P33, middle---P36
   2          
   3          //#include  <moto.h>
   4          
   5          #define pulse 3
   6          #define period 8
   7          
   8          
   9          
  10          int count1=period;
  11          int count2=pulse;
  12          int leftdetect=0;
  13          int rightdetect=0;
  14          
  15          void delay(int degree)
  16          {
  17   1       unsigned int m=0;
  18   1       while(m<(degree*100))  m++; 
  19   1      }
  20          
  21          
  22          void go(int degree)
  23          {
  24   1              int grade1=degree;
  25   1              ET0=1;
  26   1              P1=0x0a;
  27   1              delay(grade1);
  28   1              P1=0;
  29   1      }
  30          
  31          
  32          void right(int degree)
  33          {       
  34   1              int i;
  35   1              int grade3=degree;
  36   1              ET0=0;
  37   1              for(i=0;i<grade3;i++)
  38   1              {
  39   2              P1=0x39;
  40   2              delay(10);
  41   2              P1=0x36;
  42   2              delay(1);
  43   2              P1=0;
  44   2              }
  45   1              P1=0;
  46   1              ET0=1;
  47   1      }
  48          
  49          
  50          void left(int degree)
  51          {
  52   1              int i;
  53   1              int grade4=degree;
  54   1              ET0=0;
  55   1              for(i=0;i<grade4;i++)
C51 COMPILER V8.08   TRACE                                                                 08/10/2007 21:36:55 PAGE 2   

  56   1                      {
  57   2                              P1=0x36;
  58   2                          delay(10);
  59   2                          P1=0x39;
  60   2                          delay(1);  
  61   2                          P1=0;
  62   2                      }
  63   1              P1=0;
  64   1              ET0=1;
  65   1      }
  66          
  67          
  68          
  69          main()
  70          {
  71   1              
  72   1              IT0=1;
  73   1              EX0=1;
  74   1              IT1=1;
  75   1              EX1=1;
  76   1              TMOD=0X01;
  77   1              TH0=0XEE;
  78   1              TL0=0X58;
  79   1              ET0=1;
  80   1              EA=1;
  81   1              TR0=1;
  82   1              while(1)
  83   1              {
  84   2                      if(rightdetect==1)
  85   2                              {
  86   3                                      right(3);
  87   3                                      rightdetect=0;
  88   3                              }
  89   2                      if(leftdetect==1)
  90   2                              {
  91   3                                      left(3);
  92   3                                      leftdetect=0;
  93   3                              }
  94   2                       go(50);        
  95   2              
  96   2               }
  97   1      }
  98          
  99          
 100          
 101          void int0(void) interrupt 0
 102          {       
 103   1              ET0=0;
 104   1              leftdetect=1;
 105   1      }
 106          
 107          void int1(void) interrupt 2
 108          {
 109   1              ET0=0;
 110   1              rightdetect=1;
 111   1      }
 112          
 113          void  timer0(void) interrupt 1
 114          
 115          { 
 116   1              TH0=0XEE;
 117   1              TL0=0X58;  
C51 COMPILER V8.08   TRACE                                                                 08/10/2007 21:36:55 PAGE 3   

 118   1              count1--; 
 119   1              if(count1==0)
 120   1              {
 121   2                              count1=period;
 122   2                              count2=pulse;
 123   2                              P1_4=1;  
 124   2                              P1_5=1;
 125   2                       }
 126   1        
 127   1              count2--; 
 128   1              if(count2==0)  {P1_4=0;P1_5=0;count2++;}
 129   1      
 130   1      }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    330    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      8       8
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE.  0 WARNING(S),  0 ERROR(S)