smartcar.txt

智能车的小车程序

#include<reg52.h>
#include<intrins.h>
#define uchar unsigned char
#define uint unsigned int 
sbit beep=P2^6;
char code tab0[]={0,1,2,3,4,5,6,7,8,9,10};//************
char code tab1[]={10,9,8,7,6,5,4,3,2,1,0};//************
uchar num,position=5,beep_num,temp0=0x11,temp1=0x11,i,j;
void pos() interrupt 1
{
	uchar temp;
	temp=P3&0x3f;
	switch(temp)
	{
		case  1:position=10     ;break;
		case  3:position=9      ;break;
		case  2:position=8      ;break;
		case  6:position=7     	;break;
		case  4:position=6 		;break;
		case 12:position=5 		;break;
		case  8:position=4 		;break;
		case 24:position=3 		;break;
		case 16:position=2 		;break;
		case 48:position=1 		;break;
		case 32:position=0 		;break;
		case 63:num++			;break;
		default:				 break;	
	}
}
void delay(uint t)				//单位延时程序
{
	uchar x,y;
	for(x=t;x>0;x--)
		for(y=110;y>0;y--);
}

void motor(uchar position)		//电机程序
{   
	uchar delay_right,delay_left;
	i++;
	j++;                             
	delay_right=tab0[position];
	delay_left =tab1[position];	
	if(i>=delay_left)
		{
			i=0;
			temp0=_crol_(temp0,1);
		}
	P0=temp0;
	if(j>=delay_right)
		{
			j=0;
			temp1=_crol_(temp1,1);
		}
	P1=temp1;
	delay(10);

}

void slow()						//减速程序
{
	delay(20);
	motor(position);
}

void t1_beeper() interrupt 3	//关蜂鸣器
{
	beep_num++;
	if(beep_num==100)
	{
		beep_num=0;
		beep=1;					
		TR1=0;
	}
	TH1=(65536-50000)/256;
	TL1=(65536-50000)%256;
}
void init()					//初始化程序
{
	EA=1;
	ET0=1;
	ET1=1;
	TMOD=0x11;
	TH0=(65536-50000)/256;
	TL0=(65536-50000)%256;
	TH1=(65536-50000)/256;
	TL1=(65536-50000)%256;
	TR0=1;
}
void delay_t1(uchar n)		//到站停5S
{
	uchar x;
	ET0=0;
	for(x=0;x<n;x++)
	{	
		TH0=(65536-50000)/256;
		TL0=(65536-50000)%256;
		while(!TF0);
		TF0=0;
	}
	TH0=(65536-50000)/256;
	TL0=(65536-50000)%256;
	ET0=1;
	
}


void main()
{
	uchar stop,i=10;
	init();
	while(!stop)		//判断是否到了终点
	{
		motor(position);	//电机转动
		if(num%2==1)		//是否快到站
			{
				TR1=1;
				beep=0;				
				while(num%2==1);   //快到站就减速
				{
					slow();	
				}				//减完速后等到站					
				delay_t1(100);				//到站了延时5s
			}
		if(num==6)
			stop=1;
		
	}
	while(1);			//停机
}