traceint.c

本程序实现小车对白色背景下黑色线条的寻迹, 效果良好

#include <at89x52.h>
#include <remoto.h>

int start=0;
main()
{
	TMOD=0X01;
	TH0=0XEE;
	TL0=0X58;
	EA=1;
	TR0=1;
	IT0=0;
	IT1=0;
	EX0=1;
	EX1=1;
	PX0=1;
	PT0=1;
	while(1)
	{	  if(P0_0==1) go(50);
	 }
}


void  timer0(void) interrupt 1

{ 
  TH0=0XEE;
  TL0=0X58;  
  count1--; 
  if(count1==0)
      {
	   	count1=period;
		count2=pulse;
		P1_4=1;  
  		P1_5=1;
	  }
  
  count2--; 
  if(count2==0)  {P1_4=0;P1_5=0;count2++;}

}

void int0(void) interrupt 0
{
	ET0=0;
	back(5);   //
	left(7);
	ET0=1;

}

void int1(void) interrupt 2
{
	ET0=0;
	back(5);	   //
	right(7);
	ET0=1;
}