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迷官小车程序

#include <reg52.h>
#include "che.h"
#include "migong.h"
#include "lcd1602.h"
#include "key.h"

void init_time0()
{
	EA = 1;
	TR0 = 1;
	ET0 = 1;
}

void main()
{
	init_1602();
	init_time0();
	while(1)
	{
		key();
		if(key_can < 10)
		{
			if(key_can == 1)
				flag_end = 1;	
			if(key_can == 2)
			{
				flag_mg = 1;
				f_mg_e=0;
			}
		}

		if(flag_end == 1)
		{
			xunji_zhixian();
			time0_yanshi();
			if(flag_100ms == 1)
			{
				flag_100ms = 0;
				xunji();
			}
			xunji_bai();
			
		}
		if(flag_mg == 1)
		{
			xunji_zhixian();
			time0_yanshi();
			if(flag_100ms == 1)
			{
				flag_100ms = 0;
				migong();
			}
			xunji_bai();
		}			
		if((flag_end == 0) && (flag_mg == 0))
			stop();
	  }	
}

void time0_int() interrupt 1
{

	TH0 = 0XDC;
	TL0 = 0;    //10ms
	time_value ++; 
	if(time_value >= 70)
	{
		flag_100ms  = 1;
		time_value = 0;
	}
}