单片机中断有问题，P00=0的时候进不去 -

#include<AT89x51.H>
#define Left_moto_pwm P1_6 //接驱动模块ENA 使能端，输入PWM信号调节速度
#define Right_moto_pwm P1_7 //接驱动模块ENB
sbit P00=P0^0;
sbit P10=P1^0; //循迹口
sbit P11=P1^1;
sbit P12=P1^2;
sbit P13=P1^3;
sbit P14=P1^4;
#define Left_moto_go {P3_4=0,P3_5=1;} //P3_4 P3_5 接IN1 IN2 当 P3_4=0,P3_5=1; 时左电机前进
#define Left_moto_back {P3_4=1,P3_5=1;} //P3_4 P3_5 接IN1 IN2 当 P3_4=1,P3_5=0; 时左电机后退
#define Right_moto_go {P3_6=0,P3_7=1;} //P3_6 P3_7 接IN1 IN2 当 P3_6=0,P3_7=1; 时右电机前转
#define Right_moto_back {P3_6=1,P3_7=1;} //P3_6 P3_7 接IN1 IN2 当 P3_6=1,P3_7=0; 时右电机后退
unsigned char pwm_val_left =0;//变量定义
unsigned char push_val_left =0;// 左电机占空比N/10
unsigned char pwm_val_right =0;
unsigned char push_val_right=0;// 右电机占空比N/10
bit Right_moto_stop=1;
bit Left_moto_stop =1;
unsigned int time=0;
int i;
/************************************************************************/
void run(void) //前进函数
{
push_val_left =10; //PWM 调节参数1-10 1为最慢，10是最快改这个值可以改变其速度
push_val_right =5; //PWM 调节参数1-10 1为最慢，10是最快改这个值可以改变其速度
// Left_moto_go ; //左电机前进
// Right_moto_go ; //右电机前进
}
/************************************************************************/
/* PWM调制电机转速 */
/************************************************************************/
/* 左电机调速 */
/*调节push_val_left的值改变电机转速,占空比 */
void pwm_out_left_moto(void)
{
if(Left_moto_stop)
{
if(pwm_val_left<=push_val_left)
Left_moto_pwm=1;
else
Left_moto_pwm=0;
if(pwm_val_left>=10)
pwm_val_left=0;
}
else Left_moto_pwm=0;
}
/******************************************************************/
/* 右电机调速 */
void pwm_out_right_moto(void)
{
if(Right_moto_stop)
{
if(pwm_val_right<=push_val_right)
Right_moto_pwm=1;
else
Right_moto_pwm=0;
if(pwm_val_right>=10)
pwm_val_right=0;
}
else Right_moto_pwm=0;
}
/***************************************************/
///*TIMER0中断服务子函数产生PWM信号*/
void timer0()interrupt 1 using 2
{
TH0=0XF8; //1Ms定时
TL0=0X30;
time++;
pwm_val_left++;
pwm_val_right++;
pwm_out_left_moto();
pwm_out_right_moto();
}
/***************************************************/
void xiong() interrupt 3
{
if(P10==0&&P11==0&&P12==1&&P13==0&&P14==0) //小车直线快走定时0.002ms
{
push_val_left =6;
push_val_right =6;
TH1=0XFF;
TL1=0xFe;
Left_moto_go;
Right_moto_go;
}
if(P10==0&&P11==0&&P12==0&&P13==1&&P14==0) //小车右转小定时0.005ms
{
push_val_left =5;
push_val_right =4;
TH1=0XFF;
TL1=0Xfb;
Left_moto_go;
Right_moto_back;
}
if(P10==0&&P11==0&&P12==0&&P13==0&&P14==1) //小车右转大定时0.005ms
{
push_val_left =6;
push_val_right =3;
TH1=0XFF;
TL1=0Xfb;
Left_moto_go;
Right_moto_back;
}
if(P10==0&&P11==1&&P12==0&&P13==0&&P14==0) //小车左转小定时0.005ms
{
push_val_left =4;
push_val_right =5;
TH1=0XFF;
TL1=0XFb;
Right_moto_go;
Left_moto_back;
}
if(P10==1&&P11==0&&P12==0&&P13==0&&P14==0) //小车左转大定时0.005ms
{
push_val_left =3;
push_val_right =6;
TH1=0XFF;
TL1=0XFb;
Right_moto_go;
Left_moto_back;
}
if(P11==1&&P12==1&&P13==1&&i==1)
{
push_val_left =0;
push_val_right =8;
TH1=0XFc;
TL1=0X30;
Right_moto_go;
Left_moto_back;
i++;
}
if(P11==1&&P12==1&&P13==1&&i==2)
{
push_val_left =8;
push_val_right =0;
TH1=0XFc;
TL1=0X30;
Right_moto_back;
Left_moto_go;
i++;
}
if(P11==1&&P12==1&&P13==1&&i==3)
{ //全部检测到黑线时车停
TH1=0XFF;
TL1=0Xfb;
Right_moto_back;
Left_moto_back;
i==3;
}
if(P00==0)
{
push_val_left =8;
push_val_right =8;
TH1=0XFF;
TL1=0x30;
Left_moto_go;
Right_moto_go;
}
}
void main(void)
{
TMOD=0X11;
TH0= 0XF8; //1ms定时
TL0= 0X30;
TR0= 1;
ET0= 1;
TH1=0XFF;
TL1=0Xfb;
TR1=1;
ET1=1;
EA =1;
P00=0;
while(1) /*无限循环*/
{ // P10=0;P11=0;P12=1;P13=0;P14=0;
if(P10==0&&P11==0&&P12==1&&P13==0&&P14==0) // 小车直走定时0.002ms
{
TH1=0XFF; //定时0.01ms
TL1=0xFe;
TR1=1;
}
if(P10==0&&P11==0&&P12==0&&P13==1&&P14==0) //小车右转定时0.005ms
{
TH1=0XFF;
TL1=0Xfb;
TR1=1;
}
if(P10==0&&P11==0&&P12==0&&P13==0&&P14==1) //小车右转定时0.005ms
{
TH1=0XFF;
TL1=0Xfb;
TR1=1;
}
if(P10==0&&P11==1&&P12==0&&P13==0&&P14==0) //小车左转定时0.005ms
{
TH1=0XFF;
TL1=0XFb;
TR1=1;
}
if(P10==1&&P11==0&&P12==0&&P13==0&&P14==0) //小车左转定时0.005ms
{
TH1=0XFF;
TL1=0XFb;
TR1=1;
}
if(P11==1&&P12==1&&P13==1&&i==1) //十字左转
{
TH1=0XFc;
TL1=0X30;
TR1=1;
}
if(P11==1&&P12==1&&P13==1&&i==2) //十字右转
{
TH1=0XFc;
TL1=0X30;
TR1=1;
}
if(P11==1&&P12==1&&P13==1&&i==3) //全部检测到黑线时车停
{
TH1=0XFF;
TL1=0Xfb;
TR1=1;
}
if(P00==0)
{
TH1=0XFF; //定时1s
TL1=0x30;
TR1=1;
}
}
}

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