红外循迹小车c程序(舵机小车).doc

#includesbit servo=P25;uint control=12;uint jishu;uint pianchu;sbit zuo11=P34; /为0为左边正转sbit zuo12=P35; /为1为左边正转sbit you21=P36; /为1为右边正转sbit you22=P37; /为0为右边正转uint sp,speed=3;uint ji=1,guang,bi; /判断循迹寻光变量uint stop1,stop2,stop3;void delay(uint a)uint b,c;for(b=a;b0;b-)for(c=115;c0;c-);void qianjin() /可以当做延时函数来用/P3=0x0f;/delay(speed);P3=0xf9;void initial_T0()TMOD=0x21;TH1=0x8c;TL1=0x8c;EA=1;ET1=1;TR1=1;void xunji()if(P1=0x00) qianjin();/if(P1=0x20)/加速/qianjin();/speed=2;/qianjin();/qianjin();/if(P1=0x10)/左转qianjin();control+=1;qianjin();while(P1!=0x20)if(P1=0x08)/大角度左转qianjin();qianjin();control+=1;while(P1!=0x10)/if(P1=0x00) /偏出跑道，小车停止/speed=10000;/pianchu+;if(pianchu=20000)break;pianchu=0;control-=1;qianjin();qianjin();pianchu+;if(pianchu=20000)break;pianchu=0;control-=1;qianjin();qianjin();if(P1=0x40)/右转qianjin();control-=1;qianjin();while(P1!=0x20)if(P1=0x80)/大角度右转qianjin();control-=1;qianjin();while(P1!=0x40)/if(P1=0x00) /偏出跑道，小车停止/speed=10000;/pianchu+;if(pianchu=20000)break;pianchu=0;qianjin();control+=1;qianjin();pianchu+;if(pianchu=20000)break;pianchu=0;qianjin();control+=1;qianjin();void main()initial_T0();P1=0xf8; while(1)stop1=P1;if(stop1=stop2)stop3+;elsestop3=0;xunji();if(P1=0x80|P1=0x08|stop310000)P3=0x00;while(1);stop2=P1;void T0_waytwo() inter