这个寻迹小车仿真六个开关功能是什么

ID:642486 · 发表于 2019-12-27 12:23

#include<reg52.h>
#define uchar unsigned char
#define uint unsigned int
uchar temp,signal,tt1;

void delay_1ms(uint d)
{
uint i;
while(d--)
  for(i=0;i<75;i++);
}
void motor_run()    //?????
{
P1=0x35;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
/* ENA=1;
OUT1=0;
OUT2=1;
delay_1ms(800);
OUT2=0;
delay_1ms(200);

ENB=1;
OUT4=0;
OUT3=1;
delay_1ms(800);
OUT3=0;
delay_1ms(200);
*/
}
void motor_left() //???
{
P1=0x30;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
}
void motor_right()    //???
{
P1=0x05;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
}
void motor_big_right() //?????
{
P1=0x55;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
}
void motor_big_left()
{
P1=0x33;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
}
void motor_stop()    //?????
{
  P1=0x00;
}
void motor_back()
{
P1=0x53;
}
void main()
{
tt1=0;
EA=1;
ET1=1;
TR1=1;
TMOD=0x01;
TH1=-(1000/256);
TL1=-(1000%256);
while(1)
{
temp=P2;
  signal=temp&0xff;    //????????????
  switch(signal)
  {
case 0xff: //?????
motor_run();
break;
case 0xfd: //1?????
motor_left();
break;
case 0xef:    //4?????
motor_right();
break;
case 0xfb:    //2?????????
case 0xf9: //1??2?????
   motor_big_left();
// delay_1ms(10);
break;
case 0xdf: //5???????
case 0xcf:    //4??5?????
   motor_big_right();
// delay_1ms(10);
break;
case 0xfe: //0?????????
case 0xfa:
   motor_big_left();
// delay_1ms(10);
break;
case 0xbf:    //6?????????
case 0x9f:
motor_big_right();
// delay_1ms(10);
break;

case 0xeb:  //?????????????????
case 0xdb:  //??????????????????
case 0xbe:  //?м?????????????????
case 0xac: //????????????????
case 0x9a:  //?????????????????
motor_back();
delay_1ms(200);
motor_stop();

// delay_1ms(1000);
default:
break;
  }
}

}
void time1() interrupt 3
{
TH1=-(1000/256);
TL1=-(1000%256);
tt1++;
if(tt1==300)
{
  motor_back();
// delay_1ms(1);
  tt1=0;
}
}

ID:584814 · 发表于 2019-12-30 16:19

仿真图呢

ID:753887 · 发表于 2020-5-22 10:17

没有仿真图啊

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