cny_car1.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 20
unsigned int cny_delayms = 0x20;

void cny_car()
{
 unsigned char remote_in,temp;
 port_init();
 
 work_status = 0x10;//置对应的工作状态标志
 
 mic_startup();
 
 while(1)
      {
//	   sw_touch();
	   
	   remote_in = PINB & 0x0f;
	   if(remote_in == 0x04)
	     {
		   cny_delayms = cny_delayms + 20;
	     }

	   cny_in = PINC & 0xe0;
	   if(cny_in == 0x00 || cny_in == 0x40 || cny_in == 0xa0)
	     {//前行
	      forward();
          delay_ms(cny_delayms);
		 }
	   if(cny_in == 0x20)
	     {//右转
		  turn_right();
		  delay_ms(cny_delayms);
		 }
	   if(cny_in == 0x80)
	     {//左转
          turn_left();
          delay_ms(cny_delayms);
 		 }
	   if(cny_in == 0xe0)
	     {//前行--探测多次都为 0xe0 ,停止运行
		  stop();
/*
	      PORTD = 0xA0;   //前行//1010 0000   
	      PORTA = 0xC3;     //1100,0011
		  cny_times = 0;
          delay_ms(cny_delayms);
		  while(1)
		       {
			    cny_in = PINC & 0xe0;
				if(cny_in != 0xe0)
				  {
				   break;
				  }
				if(cny_in == 0xe0)
				  {
				   cny_times++;
				   if(cny_times == 5)
				     {
				      while(1)
				           {
				            PORTD = 0xff;   //停止运动   
                            PORTA = 0xff;   //熄灭指示灯
				           }
				     }
				  }
			   }
*/
		 }
	  }
}

void main()
{
 cny_car();
}