text1.lst

采用红外对管对不同颜色的不同的反射程度；得到不同的高低电平；通过控制占空比来控制转向等其他功能。

C51 COMPILER V7.09   TEXT1                                                                 04/23/2009 21:21:03 PAGE 1   


C51 COMPILER V7.09, COMPILATION OF MODULE TEXT1
OBJECT MODULE PLACED IN Text1.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE Text1.c BROWSE DEBUG OBJECTEXTEND

line level    source

   1          #include<reg51.h>
   2          #include<intrins.h>
   3          #define uchar unsigned char
   4          #define uint unsigned int
   5          #define ulong unsigned long
   6          void delay(uchar);
   7          void time0(uchar,uchar);
   8          void ks();
   9          void panduan();
  10          void lmotor(uchar,uchar);
  11          void rmotor(uchar,uchar);
  12          sbit IN1=P2^0;
  13          sbit IN2=P2^1;
  14          sbit IN3=P2^2;
  15          sbit IN4=P2^3;
  16          sbit a=P1^0;
  17          sbit b=P1^1;
  18          sbit c=P1^2;
  19          sbit d=P1^3;
  20          sbit e=P1^4;
  21          uchar m,n,i,j,aa,bb,k;
  22           void delay(uchar speed)
  23          { for(i=speed;i>0;i--) _nop_();
  24   1      
  25   1      }
  26          void lmotor(uchar m,uchar n)
  27          {IN1=1;IN2=0;delay(m);
  28   1       IN1=0;IN2=0;delay(n);
  29   1      }
  30          void rmotor(uchar m,uchar n)
  31          {IN3=1;IN4=0;delay(m);
  32   1       IN3=0;IN4=0;delay(n);
  33   1      }
  34          /*void time0(uchar m,uchar n)
  35          { TMOD=0x01;
  36            TH0=50000/256;
  37            TL0=50000%256;
  38            aa=m;bb=n;
  39            EA=1;ET0=1;TR0=1;
  40           }
  41           void time00() interrupt 1
  42           { j++;k++;
  43           TH0=50000/256;
  44            TL0=50000%256; 
  45           }*/
  46          void main()
  47          {
  48   1      while(1){ panduan();}
  49   1      
  50   1      }
  51          void panduan()
  52          {  if(a==1&&b==1&&c==0&&d==1&&e==1)//前进
  53   1          do{
  54   2                 lmotor(90,10);
  55   2                 rmotor(90,10);
C51 COMPILER V7.09   TEXT1                                                                 04/23/2009 21:21:03 PAGE 2   

  56   2            }
  57   1              while(a==1&&b==1&&c==0&&d==1&&e==1);
  58   1         if(a==1&&b==1&&c==1&&d==0&&e==1)//偏左
  59   1          do{
  60   2                 lmotor(20,10);
  61   2                 rmotor(80,10);
  62   2            }
  63   1              while(a==1&&b==1&&c==1&&d==0&&e==1);
  64   1         if(a==1&&b==0&&c==1&&d==1&&e==1)//偏右
  65   1          do{
  66   2                 lmotor(80,10);
  67   2                 rmotor(20,10);
  68   2            }
  69   1              while(a==1&&b==0&&c==1&&d==1&&e==1);
  70   1              if(a==0&&b==1&&c==1&&d==1&&e==1)//严重偏右
  71   1          do{
  72   2                 lmotor(90,10);
  73   2                 rmotor(10,10);
  74   2            }
  75   1              while(a==0&&b==1&&c==1&&d==1&&e==1);
  76   1              if(a==1&&b==1&&c==1&&d==1&&e==0)//严重偏左
  77   1          do{
  78   2                 lmotor(10,10);
  79   2                 rmotor(90,10);
  80   2            }
  81   1              while(a==1&&b==1&&c==1&&d==1&&e==0);
  82   1       
  83   1              
  84   1              
  85   1        
  86   1      
  87   1      }
  88          
  89          
  90          
  91          
  92          
  93          
  94          
  95          
  96          


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    260    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =      7    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE.  0 WARNING(S),  0 ERROR(S)