寻迹小车程序

ID:469687 · 发表于 2019-1-17 15:00

/*赛道边框黑，赛道白*/
#include <reg52.h>
/****L298N硬件连接***/
sbit ENA = P1^0;
sbit ENB = P1^1;
sbit IN4 = P1^2;  /*1*/
sbit IN3 = P1^3;  /*0*/
sbit IN2 = P1^4;  /*1*/
sbit IN1 = P1^5;  /*0*/

sbit left3 = P0^0;
sbit left2 = P0^1;
sbit left1 = P0^2;
sbit right1= P0^3;
sbit right2= P0^4;
sbit right3= P0^5;
unsigned char zkb1 = 0;
unsigned char zkb2 = 0;
unsigned char t = 0;


void init()
{
EA = 1;
TMOD |= 0x01;
TH0 =(65536 - 100) / 256;
TL0 = (65536 - 100)% 256;
ET0 = 1;
TR0 = 1;
}

void timer0() interrupt 1
{

TH0 = (65536 - 100) / 256;
TL0 = (65536 - 100) % 256;

if(t < zkb1)

   ENA = 1;
   else
   ENA = 0;


if(t < zkb2)


   {
      ENB = 1;
   }
   else

      ENB = 0;


++t;
if(t >= 100)
{
      t = 0;
}
}


void turn_left1()
{
zkb1 = 30;
zkb2 = 0;
}
void turn_left2()
{
zkb1 = 0;
zkb2 = 50;
}
void turn_left3()
{
zkb1 = 0;
zkb2 = 50;
}


void turn_right1()
{
zkb1 =0;
zkb2 =50;
}
void turn_right2()
{
zkb1 =50;
zkb2 =0;
}
void turn_right3()
{
zkb1 =30;
zkb2 =0;
}
void turn_qianjin()
{
zkb1 =80;
zkb2 =80;
}

/****主函数部分***/
void main()
{
init();
  zkb1 = 70;
  zkb2 = 70;
IN1 = 0;
IN2 = 1;
IN3 = 1;
IN4 = 0;
while(1)
{
  if((left3==1)&&(left2==0)&&(right3==0)&&(right2==0)&&(right1==0))
   turn_left3() ;
   if((left3==0)&&(left2==1)&&(right3==0)&&(right2==0)&&(right1==0))
   turn_left2() ;
  if((left3==0)&&(left2==0)&&(left1==0)&&(right3==0)&&(right2==0)&&(right1==0))
   turn_left1() ;
   if((left3==0)&&(left2==0)&&(left1==0)&&(right3==1)&&(right2==0))
turn_right3();
  if((left3==0)&&(left2==0)&&(left1==0)&&(right3==0)&&(right2==1))
turn_right2();
  if((left3==0)&&(left2==0)&&(left1==0)&&(right3==0)&&(right2==0)&&(right1==0))
turn_right1();
  if((left3==0)&&(left2==0)&&(left1==1)&&(right3==0)&&(right2==0)&&(right1==1))
{
turn_qianjin() ;
}
}
}

ID:1 · 发表于 2019-1-18 01:21

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