单片机自动寻迹小车程序

ID:488091 · 发表于 2019-3-10 20:11

#include<reg52.h>
#define uchar unsigned char
#define uint unsigned int

uchar sum1,sd;

sbit IN1=P2^0;
sbit IN2=P2^1;
sbit IN3=P2^2;
sbit IN4=P2^3;
sbit  M1=P1^0;
sbit  M2=P1^1;
sbit  M3=P1^2;
sbit  M4=P1^3;
sbit pwm1=P2^4;
sbit pwm2=P2^5;

void init()
{
TMOD=0X01;
TH0=(65536-458)/256;
TL0=(65536-458)%256;
EA=1;
ET0=1;
TR0=1;
}

void T1_time() interrupt 1
{
TH0=(65536-458)/256;
TL0=(65536-458)%256;
sum1++;
if(sum1<=sd)
{
pwm1=1;
pwm2=1;
}
else
{
pwm1=0;
pwm2=0;
}
sum1=sum1%10;
}

void straight()
{
M1=0;
M2=1;
M3=1;
M4=0;
}

void tl()
{
M1=0;
M2=1;
M3=0;
M4=1;
}

void td()
{
M1=1;
M2=0;
M3=1;
M4=0;
}

void off()
{
M1=0;
M2=0;
M3=0;
M4=0;
}

void main()
{
init();
sd=9;
while(1)
{
if((IN1==1)&&(IN4==0))
{
tl();
}
  else
  if((IN1==0)&&(IN4==1))
  {td();
  }

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