寻轨小车程序=.doc

#include #define uchar unsigned char#define uint unsigned intuchar pwm;uchar a;void forward();/前void turnleft(); /左void turnright(); /右void stop(); /停 sbit m1z=P20; /定义电机端口（高电平有效）sbit m1f=P21;sbit m2z=P22;sbit m2f=P23;sbit d1=P24; /定义灯端口sbit d2=P25;sbit d3=P26; /定义红反射外传感器端口(反射白色面时为高电平，反射黑色面或无反射时为低电平)sbit hwcg1=P10;sbit hwcg2=P11;sbit hwcg3=P12;/*-*/void ms(c) /PWMuint b;while(c-)for(b=0;b500;b+);/*- 初始化-*/void delay_ms(uint c) /延时程序while(c-)uchar a;for(a=0;a123;a+);void init_all(void) /初始化程序 P1=0x00; P2=0x00;delay_ms(6000);/*- 前后左右电机转法 -*/void forward() /向前if(hwcg1=1&hwcg2=0&hwcg3=1) P2=0X30; delay_ms(10); if(hwcg1=1&hwcg2=0&hwcg3=1) m1z=m2z=0xff; ms(4); m1z=m2z=0x00; ms(2); while(hwcg1=1&hwcg2=0&hwcg3=1) m1z=m2z=0xff; ms(2); m1z=m2z=0x00; ms(3); void recede() /向后if(hwcg1=1&hwcg2=1&hwcg3=1) P2=0X30; delay_ms(10); if(hwcg1=1&hwcg2=1&hwcg3=1) m1f=m2f=0xff; ms(4); m1f=m2f=0x00; ms(2); while(hwcg1=1&hwcg2=1&hwcg3=1) m1f=m2f=0xff; ms(3); m1f=m2f=0x00; ms(3); /*-*/void turnleft() /左走（小）if(hwcg1=1&hwcg2=0&hwcg3=0) P2=0X60; while(hwcg1=1&hwcg2=0&hwcg3=0) m2z=0xff; ms(3); m2z=0x00; ms(3); /*-*/void btleft() /左走（大）if(hwcg1=1&hwcg2=1&hwcg3=0) P2=0X60; while(hwcg1=1&hwcg2=1&hwcg3=0) m1f=m2z=0xff; ms(3); m1f=m2z=0x00; ms(3); /*-*/void turnright() /右走（小）if(hwcg1=0&hwcg2=0&hwcg3=1) P2=0X50; while(hwcg1=0&hwcg2=0&hwcg3=1) m1z=0xff; ms(3); m1z=0x00; ms(3); /*-*/void btright() /右走（大）if(hwcg1=0&hwcg2=1&hwcg3=1) P2=0X50; while(hwcg1=0&hwcg2=1&hwcg3=1) m2f=m1z=0xff; ms(3); m2f=m1z=0x00; ms(3); /*-*/void stop() /停P2=0x40;delay_ms(500);P2=0x30;delay_ms(500);/*- 主函数-*/void main ()init_all(); /初始化while(1)pwm=P1&0x07;switch(pwm)case 0x00: /hwcg1；hwcg2；hwcg3检测无检测时，停止（000） stop();break;case 0x01: /hwcg1检测为白线，hwcg2；hwcg3检测为黑线，微左转（001） turnleft();break;case 0x03: /hwcg1；hwcg2检测为白线，hwcg3检测为黑线，大左转（011） btleft();break;case 0x04: /hwcg3检测为白线，hwcg1；hwcg2检测为黑线，微右转（100） turnright(); break;case 0x06: /hwcg2；hwcg3检测为白线，hwcg1检测为黑线，大右转（110） btright();break;case 0x05: /hwcg1；hwc