m.c

能让只能小车通过红外传感器而自动寻迹行驶

/******************************************************************************
名称 ：寻迹控制
cpu  ： mega16
晶振 ：内部8M
作者 ：漂洋过海
时间 : 2008年10月
******************************************************************************/

#include <iom16v.h>
#include <macros.h>
#define uchar unsigned char
#define uint  unsigned int

/******************************************************************************/
/********************************宏定义***************************************/
/******************************************************************************/
#define H595DDR_OUT    DDRC |=BIT(0)|BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(5)|BIT(6)
#define H595CTL       PORTC    //高低高平
#define H595_SER_H    H595CTL |= BIT(PC6) //数据              
#define H595_SER_L    H595CTL &= ~BIT(PC6)                                           
#define H595_RCK_H    H595CTL |= BIT(PC5) //副寄存器时钟                         
#define H595_RCK_L    H595CTL &= ~BIT(PC5) 
#define H595_SCK_H    H595CTL |= BIT(PC4) //主时钟                         
#define H595_SCK_L    H595CTL &= ~BIT(PC4) 

#define H595DDR_OUT1    DDRD |=BIT(0)|BIT(1)|BIT(2)
#define H595CTL1       PORTD    //高低高平
#define H595_SER1_H    H595CTL1 |= BIT(PD0) //数据              
#define H595_SER1_L    H595CTL1 &= ~BIT(PD0)                                           
#define H595_RCK1_H    H595CTL1 |= BIT(PD1) //副寄存器时钟                         
#define H595_RCK1_L    H595CTL1 &= ~BIT(PD1) 
#define H595_SCK1_H    H595CTL1 |= BIT(PD2) //主时钟                         
#define H595_SCK1_L    H595CTL1 &= ~BIT(PD2) 


#define SEG_1_H       H595CTL |= BIT(PC0)//数码管四个位选端
#define SEG_1_L       H595CTL &= ~BIT(PC0)
#define SEG_2_H       H595CTL |= BIT(PC1)
#define SEG_2_L       H595CTL &= ~BIT(PC1)
#define SEG_3_H       H595CTL |= BIT(PC2)
#define SEG_3_L       H595CTL &= ~BIT(PC2)
#define SEG_4_H       H595CTL |= BIT(PC3)
#define SEG_4_L       H595CTL &= ~BIT(PC3)

#define BACK1_ON           PORTB |= BIT(PD3)     //前后//转向档瓶刂