51单片机循迹小车源程序

自动循迹小车程序（51）

#define P_IOA_Data (volatile unsigned int *)0x7000
#define P_IOA_Dir (volatile unsigned int *)0x7002
#define P_IOA_Attrib (volatile unsigned int *)0x7003

unsigned int scan();//检测黑线函数定声明
unsigned int num=0;
void delay();

void init_1()//输入初始化
{
[P_IOA_Dir]=0x00f0;
[P_IOA_Attrib]=0x00f0;
[P_IOA_Data]=0x000f;
}
//void init_2()//输出初始化
//{
//[P_IOA_Dir]=1;
//[P_IOA_Attrib]=1;
//[P_IOA_Data]=0;
//}
void main()
{
 while(1)
 {
  void init_1();
  num=scan();
  //void init_2();
  switch(num)
  {
  case 1:
   {
    while(1)
    {
     [P_IOA_Data]=0x9f;
     delay(500);
//     if([P_IOA_Data]==1)//传感器返回1，则终止转弯，下同
     break;
    }
   }
  case 2:
   {
    while(1)
    {
     [P_IOA_Data]=0x9f;
     delay(500);
     break;
    }
   }
  case 4:
   {
    while(1)
    {
     [P_IOA_Data]=0x6f;
     delay(500);
     break;
    }
   }
  case 5:
   {
    while(1)
    {
     [P_IOA_Data]=0x6f;
     delay(500);
     break;
    }
   }
  case 0:
   {
    while(1)
    {
     [P_IOA_Data]=0x5f;
     delay(500);
     break;
    }
   }

  }
 [P_IOA_Data]=0x5f;//直走
 delay(500);

 }
}

 


void delay(uint z)
{
 uint x,y;
 for(x=z;x>0;x--)
  for(y=110;y>0;y--); 
}
unsigned int scan()
{
 if(P_IOA_Data==0xfe)
 {
  num=1;
  return num;
 }
 if(line_2==0xfd)
 {
  num=2;
  return num;
 } 

 if(line_4==0xfb)
 {
  num=4;
  return num;
 } 
 if(line_5==0xf7)
 {
  num=5;
  return num;
 }
 return 0;
}