#include<reg51.h>
#define uchar unsignied char
#define uint unsignied int
unsigned char dj1=0;
unsigned char dj2=0;
sbit ENA=P0^0; //A电机使能端
sbit ENB=P0^1; //B电机使能端
sbit B1=P0^2; //L298N引脚驱动
sbit INT2=P0^3;
sbit INT3=P0^4;
sbit INT4=P0^5;
unsigned int t;
/*void delay(uint x) //延迟1ms
{
uint i,j;
for(i=0;i<x;i++)
for(j=0;j<120;j++);
} */
void forword() //小车前进
{
B1=0;
INT2=1;
INT3=0;
INT4=1;
dj1=15; //A轮小车占空比
dj2=15; //B轮小车占空比
}
void inital() //初始化程序
{
TMOD=0X01; //0.5ms
TH0=(65536-500)/256;
TL0=(65536-500)%256;
EA=1;
ET0=1;
TR0=1;
}
void timer0() interrupt 1
{
TH0=(65536-500)/256;
TL0=(65536-500)%256;
t++;
if(t<dj1)
ENA=1;
else
ENA=0;
if(t<dj2)
ENB=1;
else
ENB=0;
if(t>20)
t=0;
}
void main()
{
inital();
while(1)
{
forword();
}
}
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