HCSR04超声波+小舵机小车避障的51单片机程序

1、#include#include#defineuintunsignedint#defineucharunsignedcharsbittrig=P3T;/触发控制信号输入sbitecho=P3A2;回响信号输出sbitpwm=P3A4;/输出PWM信号sbitP2_0=P1A0;sbitP2_1=P1A1;sbitP2_2=P1A2;sbitP2_3=P1A3;ucharcount,jd;uinttime=0,timer=0;bitflag=0;unsignedlongs=0,zs=0,ys=0;voiddelay(uintx)uinti,j;for(i=x;i0;i-)for(j=110;j0

2、;j-);voidtingzhi()/停止P2_0=0;P2_2=0;P2_1=0;P2_3=0;voidqianjin()/前进P2_0=0;P2_2=0;P2_1=1;P2_3=1;voidhoutui()/后退P2_0=1;P2_2=1;P2_1=0;P2_3=0;delay(100);tingzhi();voidzuozhuan()/左转P2_0=1;P2_2=0;P2_1=1;P2_3=1;delay(100);tingzhi();voidyouzhuan()/右转P2_0=0;P2_2=1;P2_1=1;P2_3=1;delay(100);tingzhi();*/voidceju(

3、void)while(!echo);/当echo为零时等待TR0=1;/开启计数while(echo);/当echo为1计数并等待TR0=0;/关闭计数time=TH0*256+TL0;TH0=0;TL0=0;s=(time*1.7)/100;/算出来是CM*/*/voidqingling()timer=0;TH1=65036/256;TL1=65036%256;count=0;voidzd0()interrupt1flag=1;/T0中断用来计数器溢出,超过测距范围/中断溢出标志*/voidzd1()interrupt3TH1=65036/256;TL1=65036%256;if(count

4、=800)timer=0;trig=1;_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();_nop_();trig=0;voidmain(void)jd=3;count=0;TMOD=0 x11;/设T0，T1为方式1，GATE=0；TH0=0;TL0=0;TH1=65036/256;/计数器1定时0.5msTL1=65036%256;IE=0 x8a;总中断开，允许计数器0,1中断开while(1)TR1=1;ceju();if(s=ys)&(zs10)zuozhuan();左转elseif(ys=zs)&