car2.c

寻轨小车源程序

#include<reg52.h>
sbit P00=P0^0;
sbit P01=P0^1;
sbit P02=P0^2;
sbit P03=P0^3;
sbit P04=P0^4;
sbit P10=P1^0;
sbit P11=P1^1;
sbit P12=P1^2;
sbit P13=P1^3;
#define uchar unsigned char
uchar left=26,right=26,highleft=1,highright=1,time=0; 

//*****中断子程序******//
void timer0() interrupt 1 using 1
{
	TH0=(65536-100)/256;
	TL0=(65536-100)%256;
	if(left==0)highleft=0;
	if(right==0)highright=0;
	else 
	{	time++;
		if(time==left)highleft=0;
		if(time==right)highright=0;
		if(time==25)
			{
				time=0;
				highright=1;
				highleft=1;
			}
	}
}


//******红外检测程序******//
void hongwai()
{
	if(P04==1)	  
		{right=26;left=0;}
	if(P03==1)	  
		{right=26;left=15;}
	if(P02==1)
		{right=26;left=26;}
	if(P01==1)
		{right=15;left=26;}
	if(P00==1)
		{right=0;left=26;}
	if(P00==1&&P01==1&&P02==1&&P03==1&&P04==1)
		{right=0;left=0;}

	P10=highright;P11=0;
	P13=highleft; P12=0;
}

void main()
{
	TH0=(65536-100)/256;
	TL0=(65536-100)%256;
	EA=1;
	ET0=1;
	TR0=1;
	P10=P13=0;
	while(1)hongwai();
}