51单片机小车实现寻迹源程序

ID:189728 · 发表于 2017-4-15 09:56

51小车实现寻迹

*3ìDò1|Äü￡»êμÏÖD¡3μÑ°¼￡
*3ìDò×÷Õß       ÕÅ»¶
*′′×÷ê±¼ä￡»2016-11-10
***********************************************/
#include <reg52.h>

#define unint unsigned int
#define unchar unsigned char

sbit IN1=P1^0;
sbit IN2=P1^2;
sbit IN3=P1^3;
sbit IN4=P1^5;
sbit ENA=P1^1;
sbit ENB=P1^4;
sbit jiance1=P2^5;
sbit jiance2=P2^6;

unchar timer1;
// ¶¨ê±Æ÷3õê¼»ˉ
void Timer()
{
      TMOD= 0x10;
      TH1 = 0xFE;
      TL1 = 0x0C;
      ET1 = 1;
      EA = 1;
      TR1 = 1;
}

// ÖD¶Ïoˉêy
void Time1(void) interrupt 3
{
      TH1 = 0xFE;
      TL1 = 0x0C;
      timer1++;
}

//    Õ¼¿Õ±è′|àíoˉêy
unint z;
void display(z)
{
            if(timer1>100)
            {
                     timer1=0;
            }
            if(timer1 < z)
            {
                     ENA=1;
                     ENB=1;
            }
            else
            {
                     ENA=0;
                     ENB=0;
            }
}

void zhengzhuan()
{
      IN1 = 0;
      IN2 = 1;
      IN3 = 0;
      IN4 = 1;
      display(40);
}
void fanzhuan()
{
      IN1 = 1;
      IN2 = 0;
      IN3 = 1;
      IN4 = 0;
      display(50);
}
void youzhuan()
{
      IN1 = 0;
      IN2 = 1;
      IN3 = 0;
      IN4 = 0;
      display(40);
}
void zuozhuan()
{       IN1 = 0;
      IN2 = 0;
      IN3 = 0;
      IN4 = 1;
      display(40);
}

void main()
{
      Timer();
      while(1)
      {
            zhengzhuan();
            if(/*jiance1==0&&*/jiance2==1)
            {
                     zuozhuan();
                     break;
            }
            if(jiance1==1/*&&jiance2==0*/)
            {
                     youzhuan();
                     break;
            }
      }
}

ID:449181 · 发表于 2018-12-20 20:52

这是4轮的还是2轮的，如何接线呢

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