小车寻线程序.docx

寻线程序内容#include#includesbit A=P15;/左边sbit S=P21;/中间sbit C=P35;/右边sbit M1=P10;/左边电机sbit M2=P11;/右边电机 unsigned char x=0;unsigned char i,j,k;void B_right_Turn(void); void Forward(void)/前进 M1=1;delay_nus(1600); M1=0;M2=1;delay_nus(1400);M2=0;delay_nms(20);void Left_Turn(void)/以中心为轴左传Forward();Forward(); Forward(); Forward(); Forward(); Forward(); Forward(); Forward(); for(i=1;i=29;i+)M1=1;delay_nus(1300); M1=0;M2=1;delay_nus(1300);M2=0;delay_nms(19);void Left_2 (void)/以左轮为轴左传M1=1;delay_nus(1500); M1=0;M2=1;delay_nus(1400);M2=0;delay_nms(19);void Right_Turn(void)/以中心为轴右转Forward(); Forward(); Forward(); Forward(); Forward(); Forward(); Forward(); Forward(); for(j=1;j=29;j+)M1=1;delay_nus(1700); M1=0;M2=1;delay_nus(1700);M2=0;delay_nms(20);void Right_Turn_2(void)/以中心为轴右转M1=1;delay_nus(1600); M1=0;M2=1;delay_nus(1600);M2=0;delay_nms(20);void Right_2(void)/以右轮为轴右转M1=1;delay_nus(1600); M1=0;M2=1;delay_nus(1500);M2=0;delay_nms(20);void B_right_Turn(void)/右转45度 for(k=1;k=15;k+)M1=1;delay_nus(1700); M1=0;M2=1;delay_nus(1700);M2=0;delay_nms(20);void z_x (void)while(1)Left_2();if(S=1) break;void y_x (void) while(1)Right_2();if(S=1) break;void main()while(1)/1 duanForward();if(A=1&S=0&C=0)/左边检测到黑先z_x(); if(C=1&S=0&A=0) y_x();if(A=1&S=1&C=1) break; Left_Turn();/左转90度进入2段while(1)/2段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(S=1&C=1) break;Right_Turn();/进入3段while(1)/3段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(S=1&C=1&A=1) break;Left_Turn();/左转90度进入4段while(1)/4段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(S=1&C=1) break;Right_Turn();/进入5段while(1)/5段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(S=1&C=1&A=1) break; while(C=1|A=1)/过渡到6Forward();while(1)/6段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(S=1&C=1) break;Right_Turn();/进入7段while(1)/7段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(S=1&C=1) break;Right_Turn();/进入8段while(1)/进入8段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(A=1&S=1) break;x=0;while(x20)/过渡到0.5msForward();x+;while(1)/9段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(A=1&S=1) break;Left_Turn();/左转90度进入10段while(1)/10段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(A=1&S=1) break;Left_Turn();/左转90度进入11段while(1)/11段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(C=1&S=1) break;x=0;while(x20)/过渡到12段Forward();x+;while(1)/12段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(A=1&S=1) break;Left_Turn();/左转90度进入13段while(1)/13段Forward();if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();if(C=1&S=1&A=1) Forward();/* Forward();Forward();x=0;while(x20)/过渡到14段 135度Right_Turn_2();x+;x=0;while(x35)/到14段Forward();x+;if(A=1&S=0&C=0)/左边检测到黑先z_x();if(C=1&S=0&A=0) y_x();Right_Turn();Right_Turn();/ 180x=40;while(x)Forward();x-;Forward();