红外避障小车c语言程序.doc

智能小车红外避障c语言程序 #include bit RandomFactor = 0 ;bit RandomFactorBuf = 0 ;#include #define FLeftMotor P0_2 = 1 ; P0_3 = 0 #define BLeftMotor P0_2 = 0 ; P0_3 = 1#define FRightMotor P0_5 = 1 ; P0_4 = 0 #define BRightMotor P0_5 = 0 ; P0_4 = 1#define LeftStop P0_2 = 0 ; P0_3 = 0 #define RightStop P0_4 = 0 ; P0_5 = 0#define CarStop P0_2 = 0 ; P0_3 = 0 ; P0_4 = 0 ; P0_5 = 0 #define RightSenser P0_0 #define LeftSenser P0_1/*/ 左转/*void TurnLeft_1()LeftStop ;FRightMotor ;/*/ 快速左转/*void TurnLeft_Fast()BLeftMotor ;FRightMotor ;/*/ 右转/*void TurnRight_1()RightStop ;FLeftMotor ;/*/ 快速右转/*void TurnRight_Fast()BRightMotor ;FLeftMotor ;/*/ 用倒退的方式进行车头右转/*void BTurnRight_1()LeftStop ;BRightMotor ; /*/ 用倒退的方式进行车头左转/*void BTurnLeft_1() RightStop ;BLeftMotor ; /*/ 前进/*void FCar()FLeftMotor ;FRightMotor ;/*/ 后退/*void BCar()BLeftMotor ;BRightMotor ;/*/ 壁障程序/*void Obstacle_Avoid(void) if(RightSenser & LeftSenser&PWM) FCar() ; if(!RightSenser) & LeftSenser&PWM) BTurnLeft_1() ;if(RightSenser & (!LeftSenser)&PWM) BTurnRight_1() ;if(!(RightSenser | LeftSenser) RandomFactorBuf = RandomFactor ; while (!(RightSenser | LeftSenser) if(RandomFactorBuf) BTurnLeft_1() ; delay (300) ; if(!RandomFactorBuf) BTurnRight_1() ; delay (300) ; if(!PWM) LeftStop ; RightStop ; /*/ 跟随程序/*void Follow(void)if(RightSenser & LeftSenser&PWM) LeftStop ; RightStop; if(!RightSenser) & LeftSenser&PWM) TurnRight_1() ;if(RightSenser & (!LeftSenser)&PWM) TurnLeft_1() ;if(!(RightSenser | LeftSenser) FCar() ;/*/*main()Timer0Setup(500)