寻迹小车程序

寻迹小车程序下面是我最开始做寻迹小车的时候写的寻迹小车代码，代码非常简朴里面的注释比较少，如果看不懂的话能够留言。#include<reg52.h>#defineucharunsignedchar#defineuintunsignedintuchara1,a2;uintPWM1,PWM2;//电机驱动sbitENA=P2^5;sbitENB=P2^4;sbitz1=P2^1;sbitz2=P2^0;sbity1=P2^3;sbity2=P2^2;//寻迹sbitx1=P1^0;sbitx2=P1^1;sbitx3=P1^2;sbitx4=P1^3;/*voiddelay(ucharz){ucharx,y;for(x=z;x>0;x--)for(y=110;y>0;y--);}*/voidzhixing() //直行{z1=1;z2=0;PWM2=20; //控制左电机y1=1;y2=0;PWM1=18; //控制右电机}voidzuotiao_s() //向左小调{z1=1;z2=0;PWM2=22;//25y1=1;y2=0;PWM1=20;}voidyoutiao_s() //向右小调{z1=1;z2=0;PWM2=24;//28y1=1;y2=0;PWM1=18;//20 }voidzuotiao_b()//向左大调{z1=0;z2=1;// PWM2=0;PWM2=18;y1=1;y2=0;// PWM1=70;PWM1=35; }voidyoutiao_b()//向右大调{z1=1;z2=0;// PWM2=70;PWM2=35;y1=0;y2=1;// PWM1=0;PWM1=15; }voidzuozhuan() //向左转{z1=0;z2=1;PWM2=50;PWM2=25;y1=1;y2=0;PWM1=50;PWM1=30;}voidyouzhuan() //向右转{z1=1;z2=0;PWM2=50;PWM2=25;y1=0;y2=1;PWM1=50;PWM1=25;}/*voidstop() //停止{z1=0;z2=0;y1=0;y2=0;}*/voidtime0init(){TH0=(65536-100)/256;TL0=(65536-100)%256;EA=1;TR0=1;ET0=1; }voidtime0()interrupt1{TH0=(65536-100)/256;TL0=(65536-100)%256;a1++;a2++;if(a1>100)a1=0;if(a2>100)a2=0;if(a1<PWM1)ENA=1;if(a2<PWM2)ENB=1;if(a1>PWM1)ENA=0;if(a2>PWM2)ENB=0;}voidmain(){time0init();while(1){if(x1==0&&x2==1&&x3==1&&x4==0){zhixing();}elseif(x1==0&&x2==0&&x3==1&&x4==0){youtiao_s();}elseif(x1==0&&x2==1&&x3==0&&x4==0){zuotiao_s();}elseif(x1==0&&x2==0&&x3==0&&x4==1){youtiao_b();// delay(6);}elseif(x1==0&&x2==0&&x3==1&&x4==1){ youtiao_b(); // delay(6);}elseif(x1==1&&x2==0&&x3==0&&x4==0){ zuotiao_b();// delay(6);}elseif(x1==1&&x2==1&&x3==0&&x4==0){ zuotiao_b(); }elseif(x1==1&&x2==0&&x3==1&&x4==0){ while(!x4){zuozhuan();} }elseif(x1==0&&x2==1&&x3==1&&x4==1){while(!x1){youzhuan();}}elseif(x1==0&&x2==1&&x3==0&&x4==1){while(!x1){youzhuan();}}elseif(x1==1&&x2==1&&x3==1&&x4==0){while(!x4){zuozhuan();}}elseif(x1==1&&x2==1&&x3==1&&x4==