moto.h

此为循迹小车的程序资料及源码。 本程序实现小车对白色背景下黑色线条的寻迹,效果良好

/*
主函数
void main()
{
	TMOD=0X01;
	TH0=0XEE;
	TL0=0X58;
	EA=1;
	TR0=1;
	while(1)
	{
	   
	}
}

void  timer0(void) interrupt 1

{ 
  TH0=0XEE;
  TL0=0X58;  
  count1--; 
  if(count1==0)
      {
	   	count1=period;
		count2=pulse;
		P1_4=1;  
  		P1_5=1;
	  }
  
  count2--; 
  if(count2==0)  {P1_4=0;P1_5=0;count2++;}

}
*/


#define pulse 5
#define period 8





int count1=period;
int count2=pulse;
int go1=0x0a;
int back1=0x05;
int leftgo1=0x32;
int rightgo1=0x38;
int reversecount=0;

void delay(int degree)
{
 unsigned int m;
 m=0;
 for(m=0;m<(degree*100);m++); 
}


void go(int degree1)
{
	int grade1=degree1;

	ET0=1;
	P1=go1;
	delay(grade1);
	P1=0;
}

void back(int degree2)
{
	int grade2=degree2;

	ET0=1;
	P1=back1;
	delay(grade2);
	P1=0;
}

void right(int degree3)
{	int i;
	int grade3=degree3;
	ET0=0;
	for(i=0;i<grade3;i++)
	{
 	P1=0x39;
	delay(10);
	P1=0x36;
	delay(1);
	P1=0;
	}
	P1=0x36;
	delay(5);
	P1=0;
	ET0=1;
}


void left(int degree4)
{
  int i;
  int grade4=degree4;
  ET0=0;
  for(i=0;i<grade4;i++)
  {
  P1=0x36;
  delay(10);
  P1=0x39;
  delay(1);  
  P1=0;
  }
  P1=0x39;
  delay(5);
  P1=0;
  ET0=1;
}


void right45(void)
{	int i;
	ET0=0;
	for(i=0;i<7;i++)
	{
 	P1=0x39;
	delay(30);
	P1=0x36;
	delay(1);
	P1=0;
	}
	P1=0x36;
	delay(5);
	P1=0;
	ET0=1;
}


void left45(void)
{
  int i;

  ET0=0;
  for(i=0;i<7;i++)
  {
  P1=0x36;
  delay(20);
  P1=0x39;
  delay(1);  
  P1=0;
  }
  P1=0x39;
  delay(5);
  P1=0;
  ET0=1;
}

void rightgo(int degree5)
{	
	int i;
	int grade5=degree5;
	ET0=0;
	for(i=0;i<grade5;i++)
	{
 	P1=rightgo1;
	delay(10);
	P1=0;
	delay(3);
	}
	ET0=1;

}


void leftgo(int degree6)
{
  int i;
  int grade6=degree6;
  ET0=0;
  for(i=0;i<grade6;i++)
  {
  P1=leftgo1;
  delay(10);
  P1=0;
  delay(3);
  }
  ET0=1;
}

void reverse(void)
{
	if(reversecount==1)
		{	
			go1=0x0a;
			back1=0x05;
			leftgo1=0x02;
			rightgo1=0x08;	
			reversecount--;
		}
	back1=0x0a;
	go1=0x05;
	leftgo1=0x01;
	rightgo1=0x04;
	reversecount++;
	 
}