step heixian_hao_hao1.c

基于51单片机或者ARM2131的电子小车的设计

#include "reg51.h"
#define uchar unsigned char 
#define uint unsigned  int

sbit STK_CP1=P1^3;
sbit STK_DIR1=P1^2;

sbit STK_CP2=P1^1;
sbit STK_DIR2=P1^0;

sbit speed=P1^4;

sbit p32=P3^2;
sbit p33=P3^3;

bit  	youzhuan=0,zuozhuan=0;
uchar 	n;
	
void time0() interrupt 1	//电机1
{	if(youzhuan==1)
		{	TR0=0; TH0=0xde; TL0=0xcc;	TR0=1;	//8.5ms
			n++;
			if(n==100)	//1/4
				{	n=0;
					youzhuan=0;				
				}
		}
	else
		{	TR0=0; TH0=0xec; TL0=0x78; TR0=1;	//5ms
		}					
	STK_CP1=~STK_CP1;
}

void time1() interrupt 3	//电机2
{	if(zuozhuan==1)
		{	
			TR1=0; TH1=0xde; TL1=0xcc;	TR1=1;	//8.5ms
			n++;
			if(n==100)
				{	n=0;
					zuozhuan=0;				
				}
		}
	
	else
		{	TR1=0; TH1=0xec; TL1=0x78; TR1=1;	//5ms
		}					
	STK_CP2=~STK_CP2;
}

void int0() interrupt 0	//右转//T1变
{	if(p33!=0)		//不能同时为低
		{	youzhuan=1;	
			zuozhuan=0;
			n=0;	
		}
	 else
	 	{	youzhuan=0;	
			zuozhuan=0;
			n=0;
		 }
}

void int1() interrupt 2			//左转 //T0变
{	if(p32!=0)
		{	youzhuan=0;
			n=0;
			zuozhuan=1;
		}
	else
	 	{	youzhuan=0;	
			zuozhuan=0;
			n=0;
		 }
}

main()
{	EA=0;
	TMOD=0x11;
	TH0=0xec;	TL0=0x78;	//5ms
	TR0=1; 		ET0=1;

	TH1=0xec;	TL1=0x78;	//5ms
	TR1=1; 		ET1=1;
	
	IT0=1;		EX0=1;
	IT1=1;		EX1=1;
	EA=1;
	STK_DIR1=0;
	STK_DIR2=1;
	while(1);		
}