智能循迹小车程序

智能循迹小车，小车按中字笔画行驶

/************“中”字笔画轨迹*************/

#include

#include //内部包含延时函数_nop_(); #define uchar unsigned char

#define uint unsigned int

unsigned char dj1=0;

unsigned char dj2=0;

uchar t=0;

uchar num1=0,num2=0,num3=0;

sbit HW1=P0^0; //红外对管位定义

sbit HW2=P0^1;

sbit HW3=P0^2;

sbit HW4=P0^3;

sbit ENA=P3^2; //PWM输入

sbit ENB=P3^3;

sbit IN5=P2^4; //电机

sbit IN6=P2^5;

sbit IN7=P2^6;

sbit IN8=P2^7;

void delay(uint x) //延时1ms

{

uint i,j;

for(i=0;i

for(j=0;j<120;j++);

}

void qianjin() //小车前进

{

IN5=0;

IN6=1;

IN7=0;

IN8=1;

dj1=15;

dj2=15;

}

void turnleft2() //小车前进向左微调

{

IN5=0;

IN6=1;

IN7=0;

IN8=1;

dj1=7;

dj2=20;

}

void turnright2() //小车前进向右微调{

IN5=0;

IN6=1;

IN7=0;

IN8=1;

dj1=20;

dj2=7;

}

void right()

{

IN5=0;

IN6=1;

IN7=1;

IN8=0;

dj1=20;

dj2=25;

}

void left()

{

IN5=1;

IN6=0;

IN7=0;

IN8=1;

dj1=25;

dj2=20;

}

void stop() //小车后退

{

dj1=0;

dj2=0;

}

void init() //初始化

{

TMOD=0x01;

TH0=(65536-500)/256;

TL0=(65536-500)%256;

EA=1;

ET0=1;

TR0=1;

}

void timer0() interrupt 1 using 1 //定时器0中断

{

TH0=(65536-500)/256;

TL0=(65536-500)%256;

t++;

if(t

else ENA=0;

if(t

else ENB=0;

if(t>=50)

{

t=0;

}

}

void main()

{

init();

while(1)

{

if(num1==0)

{

if(HW1==0&&HW2==1&&HW3==1&&HW4==0)

{

qianjin();

}

if(HW1==0&&HW2==1&&HW3==0&&HW4==0)

{

turnleft2();

}

if(HW1==1&&HW2==1&&HW3==0&&HW4==0)

{

turnleft2();

if(HW1==1&&HW2==0&&HW3==0&&HW4==0)

{

turnleft2();

}

if(HW1==0&&HW2==0&&HW3==1&&HW4==0)

{

turnright2();

}

if(HW1==0&&HW2==0&&HW3==1&&HW4==1)

{

turnright2();

}

if(HW1==0&&HW2==0&&HW3==0&&HW4==1)

{

turnright2();

}

if(HW1==0&&HW2==1&&HW3==1&&HW4==1)

{

turnleft2();

}

if(HW1==1&&HW2==1&&HW3==1&&HW4==0)

{

turnright2();

}

if(num2==0&&HW1==0&&HW2==0&&HW3==0&&HW4==0)

{

delay(500);

if(num2==0&&HW1==0&&HW2==0&&HW3==0&&HW4==0)

{

stop();

delay(50);

num1=1;

delay(50);

}

}

}

if(num1==1)

{

if(num2==0&&HW1==0&&HW2==0&&HW3==0&&HW4==0)

{

right();

}

if(HW1==0&&HW2==1&&HW3==1&&HW4==0)