tracecheck.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>
#include <remoto.h>


int prego,preleft,preright;
main()
{	
  	int check=0;
	TMOD=0X01;
	TH0=0XEE;
	TL0=0X58;
	EA=1;
	TR0=1;
	ET0=1;

	 while(1)
	 {
	 check=P0&0x07;

	 switch(check)
	 {
	 	case 0: {
				//	check=0;
				//	do{back(100);}while((check==6||check==3));
				};break;
		case 1: left(20);break;
		case 2: go(50);break;
		case 4: right(20);break;
		case 6: right(20);break;
		case 3: left(20);break;
		case 7: right(20); break;
		
	 }
	 check=0;
	 } 
}


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++;}

}