基于AT89C52单片机的智能小车c语言程序.docx

#include#define uchar unsigned char#define uint unsigned intuchar pro_left=35,pro_right=35,i,j; /左右占空比标志 sbit left1=P21;/定义端口sbit left2=P20;sbit right1=P23;sbit right2=P22;sbit pleft=P27;sbit pright=P26; sbit en1=P10; sbit en2=P11; /循迹口 三个红外传感器sbit left_red=P12; /白线位置sbit right_red=P14; /白线位置void delay(uint z) uchar i; while(z-) for(i=0;i121;i+);void init()left_red=0; /白线位置right_red=0;TMOD=0X01;TH0=(65536-100)/256;TL0=(65536-100)%256;EA=1;ET0=1;TR0=1;en1=1;en2=1;void time0(void)interrupt 1/定时中断i+;j+;if(i=pro_right) en1=1; else en1=0;if(i=40) en1=en1;i=0;if(j=pro_left) en2=1; else en2=0;if(j=40) en2=en2;j=0;TH0=(65536-100)/256;TL0=(65536-100)%256;void straight() /走直线函数pro_right=20;pro_left=20;left1=1;left2=0;right1=1;right2=0;void turn_left() /左转弯函数pro_right=0;pro_left=20;left1=1;left2=0;right1=1;right2=0; void turn_right() /右转弯函数pro_right=40;pro_left=0;left1=1;left2=0;right1=1;right2=0;void turn_back() /后退(反转)函数left1=0;left2=1;right1=0;right2=1; pro_right=20;pro_left=20;void infrared() /循迹和避障 uchar flag;if(pright=1)|(pleft=1) if(left_red=1)&(right_red=0) flag=1; else if(right_red=1)&(left_red=0) flag=2; else if(left_red=0)&(right_red=0) flag=3; else flag=0;else if(pright=0)&(pleft=1) flag=4; else if(pright=1)&(pleft=0) flag=5;else if(pright=0)&(pleft=0) flag=6;else flag=0;switch (flag) case 0:straight(); break; case 1:turn_right(); delay(1000); break; case 2:turn_left(); delay(1000); break; case 3:straight(); delay(1000); break;case 4:turn_back(); delay(1000); turn_left(); delay(1000); break;case 5:turn_back(); delay(1000); turn_right(); delay(1000); break;case 6:turn_back(); delay(1000); turn_left()