remotev3.lst

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

C51 COMPILER V8.08   REMOTEV3                                                              08/10/2007 19:17:33 PAGE 1   


C51 COMPILER V8.08, COMPILATION OF MODULE REMOTEV3
OBJECT MODULE PLACED IN remoteV3.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE remoteV3.c BROWSE DEBUG OBJECTEXTEND

line level    source

   1          #include <at89X52.h>
   2          
   3          #define pulse 3
   4          #define period 8
   5          
   6          int count1=period;
   7          int count2=pulse;
   8          int go1=0x0a;
   9          int back1=0x05;
  10          int leftgo1=0x32;
  11          int rightgo1=0x38;
  12          int reversecount=0;
  13          
  14          void delay(int degree)
  15          {
  16   1       unsigned int m=0;
  17   1       for(m=0;m<degree*100;m++); 
  18   1      }
  19          
  20          
  21          void go(int degree)
  22          {
  23   1              int grade1=degree;
  24   1              TR0=1;
  25   1              P1=go1;
  26   1              delay(grade1);
  27   1              P1=0;
  28   1      }
  29          
  30          void back(int degree)
  31          {
  32   1              int grade2=degree;
  33   1              TR0=1;
  34   1              P1=back1;
  35   1              delay(grade2);
  36   1              P1=0;
  37   1      }
  38          
  39          void rightgo(int degree)
  40          {       
  41   1              int i;
  42   1              int grade3=degree;
  43   1              ET0=0;
  44   1              for(i=0;i<grade3;i++)
  45   1              {
  46   2              P1=rightgo1;
  47   2              delay(10);
  48   2              P1=0;
  49   2              delay(3);
  50   2              }
  51   1      
  52   1      }
  53          
  54          
  55          void leftgo(int degree)
C51 COMPILER V8.08   REMOTEV3                                                              08/10/2007 19:17:33 PAGE 2   

  56          {
  57   1        int i;
  58   1        int grade4=degree;
  59   1        ET0=0;
  60   1        for(i=0;i<grade4;i++)
  61   1        {
  62   2        P1=leftgo1;
  63   2        delay(10);
  64   2        P1=0;
  65   2        delay(3);
  66   2        }
  67   1      }
  68          
  69          void reverse(void)
  70          {
  71   1              if(reversecount==1)
  72   1                      {       
  73   2                              go1=0x0a;
  74   2                              back1=0x05;
  75   2                              leftgo1=0x02;
  76   2                              rightgo1=0x08;  
  77   2                              reversecount--;
  78   2                      }
  79   1              back1=0x0a;
  80   1              go1=0x05;
  81   1              leftgo1=0x01;
  82   1              rightgo1=0x04;
  83   1              reversecount++;
  84   1               
  85   1      }
  86          
  87          int recev=0;
  88          
  89          main()
  90          {       TMOD=0X01;
  91   1              TH0=0XEE;
  92   1              TL0=0X58;
  93   1              IT0=1;
  94   1              EX0=1;
  95   1              ET0=1;
  96   1              EA=1;
  97   1              TR0=1;
  98   1              while(1)
  99   1              {
 100   2              
 101   2                      switch(recev)
 102   2                              {
 103   3                                      case 0x06:      {recev=0;go(100);}break;
 104   3                                      case 0x07:      {recev=0;back(100);}break;
 105   3                                      case 0x08:      {recev=0;leftgo(100);}break;
 106   3                                      case 0x09:      {recev=0;rightgo(100);}break;
 107   3                                      case 0x0a:      {recev=0;reverse();}break;
 108   3                                      case 0x0b:      {recev=0;P1_0=0;}break;
 109   3                                      case 0x0c:      {recev=0;P1_1=0;}break;
 110   3                                      case 0x0d:      {recev=0;P1_2=0;}break;
 111   3                                      case 0x0e:      {recev=0;P1_3=0;}break;
 112   3                              }
 113   2              }
 114   1      }
 115          
 116          void recevkey(void) interrupt 0
 117          {
C51 COMPILER V8.08   REMOTEV3                                                              08/10/2007 19:17:33 PAGE 3   

 118   1              recev=P0&0x0f;
 119   1      }
 120          
 121          void  timer0(void) interrupt 1
 122          
 123          { 
 124   1        TH0=0XEE;
 125   1        TL0=0X58;  
 126   1        count1--; 
 127   1        if(count1==0)
 128   1            {
 129   2                      count1=period;
 130   2                      count2=pulse;
 131   2                      P1_4=1;  
 132   2                      P1_5=1;
 133   2                }
 134   1        
 135   1        count2--; 
 136   1        if(count2==0)  {P1_4=0;P1_5=0;count2++;}
 137   1      
 138   1      }


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    482    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =     16       8
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


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