cny_car.c

单片机开发资料光盘-双龙-686M.zip

//cny_car   探测白底黑线，沿着黑线运动
#include <io8515v.h>
#include <macros.h>
#include <sl3010.c>

unsigned char cny_in;

#define cny_delayms 50

void cny_car()
{
 unsigned char cny_times;
 port_init();
start_up: 
 mic_startup();
 
 while(1)
      {
//	   sw_touch();
	   
	   cny_in = PINC & 0xe0;
	   if(cny_in == 0x00 || cny_in == 0x40 || cny_in == 0xa0)
	     {//前行
	      forward();   //前行
		  cny_times = 0x00;
		 }
	   if(cny_in == 0x20 || cny_in == 0x60)
	     {//慢速右转
		  turn_right_s();   //慢速右转
		  delay_ms(cny_delayms);
		  cny_times = 0x00;
		 }
	   if(cny_in == 0x80 || cny_in == 0xc0)
	     {//慢速左转
          turn_left_s();    //慢速左转
          delay_ms(cny_delayms);
		  cny_times = 0x00;
 		 }
	   if(cny_in == 0xe0)
	     {//前行--探测多次都为 0xe0 ,停止运行
		  forward();
		  cny_times++;
		  delay_ms(10);
		  if(cny_times == 0x64)
			{
			 stop();   //停止运动//熄灭指示灯   
             goto start_up;
			}
		 }
	  }
}

void main()
{
 cny_car();
}