智能小车_走黑线_避障_物体跟随_红外遥控_C程序.docx

#includereg52.h#include/*接线定义*/sbit IN1=P15; sbit IN2=P16;sbit IN3=P11;sbit IN4=P10;sbit EN1=P13;sbit EN2=P14;/*传感器接线定义*/sbit Left_InSen=P24;sbit Right_InSen=P20;sbit bleft=P23;sbit bright=P21;sbit BUZZ=P17;/*遥控器接线定义*/sbit b=P07; /对应D0 Bsbit d=P06; /对应D1 Dsbit a=P05; /对应D2 Asbit c=P04; /对应D3 C/*按键功能定义*/sbit k2=P30;/走黑线sbit k3=P31;/避障sbit k4=P32;/物体跟随sbit k5=P33;/遥控器/*标志位定义*/bit flag_heixian=0;bit flag_bizhang=0;bit flag_gensui=0;bit flag_yaokong=0;void delay(unsigned int n)unsigned char i, j,k;for(k=0;k=n;k+)_nop_();_nop_();i = 5;j = 6 ;dowhile (-j); while (-i);void beep(void)unsigned char i;for(i=0;i3;i+)BUZZ=BUZZ;delay(10);BUZZ=1;void gogogo(void) IN1=1; IN2=0; IN3=1; IN4=0;void backbackback(void) IN1=0; IN2=1; IN3=0; IN4=1;void stop(void) IN1=0; IN2=0; IN3=0; IN4=0; void turnleft(void) IN1=0; IN2=1; IN3=1; IN4=0;void turnright(void) IN1=1; IN2=0; IN3=0; IN4=1;void keyscan() /*走黑线按键设置*/if(k2=0)while(!k2); flag_heixian=1;flag_bizhang=0;flag_gensui=0;flag_yaokong=0;/*避障按键设置*/ if(k3=0) while(!k3);flag_heixian=0;flag_bizhang=1;flag_gensui=0;flag_yaokong=0;/*物体跟随按键设置*/ if(k4=0) while(!k4);flag_heixian=0;flag_bizhang=0;flag_gensui=1;flag_yaokong=0;/*遥控器按键设置*/ if(k5=0) while(!k5);flag_heixian=0;flag_bizhang=0;flag_gensui=0;flag_yaokong=1;void main(void)flag_heixian=0;flag_bizhang=0;flag_gensui=0;flag_yaokong=0; while(1) keyscan();/按键扫描 /*走黑线程序设计*/if(flag_heixian)delay(1);if(Left_InSen=1&Right_InSen=0) turnright(); delay(10-4); stop(); delay(4); else if(Left_InSen=0&Right_InSen=1) turnleft(); delay(10-4); stop(); delay(4); else gogogo(); delay(10-7); stop(); delay(7); /*避障程序设计*/if(flag_bizhang) delay(1); if(bleft=0&bright=0) /1(灭)没有检测到有障碍物 0（亮）检测到没有障碍物 gogogo(); delay(4); stop(); delay(6); if(bleft=1&bright=1) BUZZ=0;backbackback(); delay(4); stop();BUZZ=1; delay(6); if(bleft=1&bright=0) turnright(); delay(2); stop(); delay(8); if(bleft=0&bright=1) turnleft(); delay(2); stop(); delay(8); /*物体跟随程序设计*/if(flag_gensui) delay(1); if(bleft=0&bright=0) /1(灭)没有检测到有障碍物 0（亮）检测到没有障碍物 gogogo(); delay(4); stop(); delay(6); if(bleft=1&bright=1) backbackback(); delay(4); stop(); delay(6); if(bleft=1&bright=0) turnleft(); delay(2); stop(); delay(8); if(bleft=0&bright=1) turnright(); delay(2); stop(); delay(8); /*遥控器程序设计*/if(flag_yaokong)while(1) if(a=1&b=0&c=0&d=0) turnright(); delay(5); stop(); delay(5); else if(a=0&b=1&c=0&d=0) turnleft(); delay(5); stop(); delay(5); else if(a=0&b=