循迹小车完整程序

1、 程 序# include <reg51.h>/*驱动芯片L298管脚位声明*sbit IN1= P10;sbit PWM1= P11;sbit IN2= P12;sbit IN3= P13;sbit PWM2= P14;sbit IN4= P15;/*传感器TCRT5000管脚位声明*sbit XL= P16; /左侧第一个传感器sbit XR= P17; /右侧第一个传感器sbit YL= P20; /左侧第二个传感器sbit YR= P21; /右侧第二个传感器/*用于定时计数的两个全局变量位声明*int count1=0;int count2=0;/*左边电机前进*void

2、 forward_turn1() IN1=0; IN2=0; /*左边电机后退* void reverse_tuen1() IN1=1; IN2=0; /*右边电机前进*void forward_turn2() IN3=0; IN4=1; /*右边电机后退*void reverse_turn2() IN3=1; IN4=0; /*左边电机速度控制函数*void speed1(int ct,int sd) if(ct<=sd) PWM1=1; else PWM1=0; /*右边电机速度控制函数*viod speed2(int ct,int sd) if （ct<=sd） PWM2=1

3、;else PWM2=0;/*小车直线前进函数*void advance (int ct1,int sd1,int ct2,int sd2);forward_turn1();forward_turn2();speed1(ct1,sd1);speed2(ct2,sd2);/*小车左转*void left_turn1(int ct1,int sd1,int ct2,int sd2);forward_turn1();forward_turn2();speed1(ct1,sd1);speed2(ct2,sd2);/*小车右转*viod riht_ turn1(int ct1,int sd1,int c

4、t2,int sd2);forward_turn1();forward_turn2();speed1(ct1,sd1);speed2(ct2,sd2);/*主函数*main()TMOD=ox11;TH0=(65536-1000)/256;TL0=(65536-1000)%256;EA=1;ET0=1;TR0=1;TH1=(65536-1000)/256;TL1=(65536-1000)%256;EA=1;ET1=1;TR1=1;while(1)if(XL=0&&XR=0&&YL=0&&YR=0) /传感器未检测到直线，小车直行 advance(c

5、ount1,500,count2,500); if(XL=1&&XR=0&&YL=0&&YR=0) /左边内侧传感器检测到黑线，小左转 Left_turn1(count1,200,count2,500);if(XL=0&&XR=0&&YL=1&&YR=0) /左边外侧传感器检测到黑线，大左转Left_turn1(count1,200,count2,700);if(XL=0&&XR=1&&YL=0&&YR=0) /右边内侧传感器检测到黑线，小右转righ

6、t_turn1(count1,500,count2,200);if(XL=0&&XR=0&&YL=0&&YR=1) /右边外侧传感器检测到黑线，大右转right_turn1(count1,700,count2,200);if(XL=1&&XR=0&&YL=1&&YR=0) /左侧两个传感器均检测到黑线，中左转Left_turn1(count1,200,count2,600);if(XL=0&&XR=1&&YL=0&&YR=1) /右侧两个传感器均检测到黑线，中右转right_turn1(count1,600,count2,200); /*中断服务程序*viod time0() interrupt1;TH0=(65536-1000)/256;TL0=(65536-1000)%256;count1+;if (count1>=1000)count1=0vi