小车避障循迹减速超声波

ID:423119 · 发表于 2018-12-4 21:03

#include <reg52.h>

#include <intrins.h>

#define RX echo //接收
#define TX trig //发送

sbit RX=P1^4;
sbit TX=P1^5;

unsigned int  time=0;
unsigned long S=0;

sbit moto1=P2^0;
sbit moto2=P2^1; //右
sbit moto3=P2^2;
sbit moto4=P2^3; //左

//sbit sense1=P1^6;    //右
sbit sense1=P1^1;
sbit sense2=P1^2;
sbit sense3=P1^3;

sbit PWM1=P2^4;
sbit PWM2=P2^5;

unsigned int  speed1=0;
unsigned int  speed2=0;

unsigned char count;
int  count0=0;
int count1=0;

void delay_1ms(unsigned char x)       //1ms延时函数,100ms以内可用 +

{
unsigned char i;
while(x--)
for(i=124;i>0;i--);
}
void delay_m(unsigned int n)
{
unsigned int i=0,j=0;
for(i=0;i<n;i++)
      for(j=0;j<21738;j++);
}

   void delay(unsigned int xms)
  {
unsigned int x,y;
for(x=xms;x>0;x--)
for(y=110;y>0;y--);
  }
void compute ()
{
         TX=1;
        delay_1ms(1);
   TX=0;
   while(!RX); //当RX3为零时等待
   TR1=1;       //开启计数
   while(RX); //当RX3为1计数并等待
   TR1=0; //关闭计数
   time=TH1*256+TL1;
   TH1=0;
   TL1=0;
   S=(time*1.7)/100;    //算出来是CM

}

void timer0_init()
{
      TMOD=0x12;
      TH0=TL0=156;
   EA=1;
   ET0=1;
   TR0=1;
}
void  main(  )

  {
        timer0_init();
while(1)
{
           compute();

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