trace.c

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

#include <at89X52.h>  //left--P32,  right ---P33, middle---P36

//#include  <moto.h>

#define pulse 3
#define period 8



int count1=period;
int count2=pulse;
int leftdetect=0;
int rightdetect=0;

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


void go(int degree)
{
	int grade1=degree;
	ET0=1;
	P1=0x0a;
	delay(grade1);
	P1=0;
}


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


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



main()
{
	
	IT0=1;
	EX0=1;
	IT1=1;
	EX1=1;
	TMOD=0X01;
	TH0=0XEE;
	TL0=0X58;
	ET0=1;
	EA=1;
	TR0=1;
	while(1)
	{
		if(rightdetect==1)
			{
				right(3);
				rightdetect=0;
			}
		if(leftdetect==1)
			{
				left(3);
				leftdetect=0;
			}
		 go(50);	
	
	 }
}



void int0(void) interrupt 0
{	
	ET0=0;
	leftdetect=1;
}

void int1(void) interrupt 2
{
	ET0=0;
	rightdetect=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++;}

}