【无标题】五路红外循迹的c51小车

#include <REGX52.H>
#include <intrins.h>

sbit ENA=P1^2;
sbit EN1=P1^3;
sbit EN2=P1^4;

sbit ENB=P1^7;
sbit EN3=P1^5;
sbit EN4=P1^6;

sbit check2=P3^3;
sbit check3=P3^4;
sbit check4=P3^5;

void Timer0_Init(void)		
{
	TMOD &= 0xF0;			
	TMOD |= 0x01;			
	TL0 = 0xF6;				
	TH0 = 0xFF;				
	TF0 = 0;				
	TR0 = 1;				
	ET0 = 1;
	EA  = 1;
	PT0 = 0;
}


void Delay130us(void)	//@11.0592MHz
{
	unsigned char data i, j;

	i = 2;
	j = 98;
	do
	{
		while (--j);
	} while (--i);
}


void Delay200us(void)	//@11.0592MHz
{
	unsigned char data i, j;

	i = 3;
	j = 35;
	do
	{
		while (--j);
	} while (--i);
}

void Delay3500us(void)	//@11.0592MHz
{
	unsigned char data i, j;

	i = 38;
	j = 163;
	do
	{
		while (--j);
	} while (--i);
}



unsigned int recive=0;
unsigned int count,a,e;//on是占空比
unsigned int on=36,M=0;

void zhizou()
{
	ENA=1;ENB=1;
	EN1=1;EN2=0;
	EN3=1;EN4=0;
	Delay130us();
}

void daoche()
{
	ENA=1;ENB=1;
	EN1=0;EN2=1;
	EN3=0;EN4=1;

}

void turnleft()
{
	ENA=1;ENB=1;
	EN1=0;EN2=1;
	EN3=1;EN4=0;
	Delay3500us();	
	Delay200us();
	
}

void turnright()
{
	ENA=1;ENB=1;
	EN1=1;EN2=0;
	EN3=0;EN4=1;
	Delay3500us();	
	Delay200us();
	
}

void stop()
{
	ENA=0;ENB=0;
}


void Uart_Init(void)
{
	SCON = 0x50;           //方式1 8位数据 接收地址甄别禁止 接收使能 0101 0000
	PCON = 0x00;         //波特率不增倍
	TMOD = 0x20;         //T1,8位自动重装
	TH1 = 0xfd;	  		 //波特率9600
	TL1 = 0xfd;
	EA   = 1;
	ES   = 1;
	TR1 = 1;           
}

void Uart_Routine(void)  interrupt 4
{
	
	if(RI==1)
	{
		RI=0;
	    recive= SBUF;		//接收数据
		
	}
}


void main()
{	
	Timer0_Init();
	Uart_Init();
	
	while(1)
	{
		if(recive==6)
		{
			while(1)
			{
				switch(recive)
				{
					case 1:
						on=120;zhizou();break;
					case 2:
						on=120;daoche();break;
					case 3:
						on=60;turnleft();break;
					case 4:
						on=60;turnright();break;
					case 5:
						stop();break;
				}
				if(recive==0)
				{
					break;
				}
			}
		}
		else if(recive==0)
		{
			while(1)
			{
				if(recive==6)
				{
					break;
				}
				ENA=0;
				ENB=0;
				if((check2==1&&check3==1&&check4==1)||(check2==0&&check3==0&&check4==0)||(check2==0&&check3==1&&check4==0))//直走
				{
					on=31;zhizou();Delay200us();	
				}

				if(check2==1&&check4==0)//左转
				{
					turnleft();	
				}
				
				if((check2==0&&check4==1)||(check2==1&&check3==0&&check4==1))//右转
				{
					on=60;
					turnright();
				}
//				if(check2=1&&check3==1&&check4==1)
//				{
//					e++;
//					if(e==20)
//						while(1)
//					{
//						{
//							ENA=0;ENB=0;
//						}
//					}
//				}
			}
		}
	}
}



void Timer0_Routine() interrupt 1
{
	TL0 = (65535-900)%256;		//900		
	TH0 = (65535-900)/256;
	if(count<on)
	{
		ENA=1;
		ENB=1;
	}
	else
	{
		if(count<on+3)
		{
			ENA=1;
		}
		else
		{
			ENA=0;
		}
		ENB=0;
	}
	
	count++;
	count%=200;
}