密室夺宝小偷程序1

Arknightsyyds

于 2022-09-14 13:18:24 发布

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文章标签： c语言动态规划开发语言

本文链接：https://blog.csdn.net/Arknightsyyds/article/details/126850627

版权

#include <reg52.h>

typedef unsigned char uint8;
typedef unsigned int uint16;

sbit LED1 = P2^2;
sbit LED2 = P2^3;
sbit LED3 = P2^4;
sbit LED4 = P2^5;
sbit LED5 = P2^6;
sbit LED6 = P2^7;

sbit ENA=P1^0;
sbit ENB=P1^1;
sbit IN1=P1^2;
sbit IN2=P1^3;
sbit IN3=P1^5;
sbit IN4=P1^4;

uint8 t = 0;
uint8 PWM_T1 = 0;
uint8 PWM_T2 = 0;

uint16 a=0; b=0; c=0;

void delay_1ms(uint16 l)
{
   uint16 x,y;
   for(x=l;x>0;x--)
   for(y=120;y>0;y--);
}

void forward()
{
   TR0=1;
   IN1=1;
   IN2=0;
   IN3=1;
   IN4=0;
   PWM_T1=100;
   PWM_T2=100;
}

void left()
{
   TR0=1;
   IN1=0;
   IN2=1;
   IN3=1;
   IN4=0;
   PWM_T1=250;
   PWM_T2=250;
}

void right()
{
   TR0=1;
   IN1=1;
   IN2=0;
   IN3=0;
   IN4=1;
   PWM_T1=250;
   PWM_T2=250;
}

void stop()
{
TR0=1;

   ENA=0;
   ENB=0;
   IN1=0;
   IN2=0;
   IN3=0;
   IN4=0;

}

void main(void)
{
stop();
   TMOD = 0x02;
   TH0=(65536-50000)/256;
   TL0=(65536-50000)%256;
   TR0=1;
   ET0=1;
   EA=1;
   PWM_T1=100;
   PWM_T2=100;
   delay_1ms(1000);

   while(1)
{

       if(LED1==1&&LED6==0&&LED2==1&&LED5==0&&LED3==1&&LED4==0) //左转
       {
           a++;
           if(a==2||a==4)
           {
           forward();
               delay_1ms(100);
           }

else if(a==5)
           {
               left();
               delay_1ms(490);
           }



           else
           {
               left();
               delay_1ms(210);
           }
       }

       if(LED1==0&&LED6==1&&LED2==0&&LED5==1&&LED3==0&&LED4==1) //右转
       {

           b++;
           if(b==2||b==4||b==6)
           {
               forward();
               delay_1ms(100);
           }

           else if(b==7)
           {
               stop();
               delay_1ms(20000000);
           }

           else
           {
               right();
               delay_1ms(210);
           }
       }

       if(LED1==1&&LED6==1&&LED2==1&&LED5==1&&LED3==1&&LED4==1) //后转
{
           c++;
           if(c==1)
           {
               forward();
               delay_1ms(100);
           }

           else if(c==2)
           {
               left();
               delay_1ms(210);
           }

           else
           {
               left();
           delay_1ms(450);
           }
       }
       if(LED1==0&&LED6==0) //Ö±ÐÐ
       {
           if(LED3==1&&LED4==0&&LED2==0&&LED5==0&&LED1==0&&LED6==0)
           {
               IN1=0;
               IN2=1;
               IN3=1;
               IN4=0;
               PWM_T1=100;
               PWM_T2=100;
               delay_1ms(10);
           }
           if(LED3==0&&LED4==1&&LED2==0&&LED5==0&&LED1==0&&LED6==0)
           {
               IN1=1;
               IN2=0;
               IN3=0;
               IN4=1;
               PWM_T1=100;
               PWM_T2=100;
               delay_1ms(10);
           }
           if(LED2==1&&LED5==0&&LED3==0&&LED4==0&&LED1==0&&LED6==0)
           {
               IN1=0;
               IN2=1;
               IN3=1;
               IN4=0;
               PWM_T1=100;
               PWM_T2=100;
               delay_1ms(10);
           }
           if(LED2==0&&LED5==1&&LED3==0&&LED4==0&&LED1==0&&LED6==0)
           {
               IN1=1;
               IN2=0;
               IN3=0;
               IN4=1;
               PWM_T1=100;
               PWM_T2=100;
               delay_1ms(10);
           }
           if(LED3==0&&LED4==0&&LED2==0&&LED5==0&&LED1==0&&LED6==0)
           {
               IN1=1;
               IN2=0;
               IN3=1;
               IN4=0;
               PWM_T1=110;
               PWM_T2=110;
           }
       }
   }
}

timer0() interrupt 1
{
   TH0=(65536-50000)/256;
   TL0=(65536-50000)%256;
   t++;
   if(t==250)
   {
       t=0;
   }
   if(PWM_T1<=t)
   {
       ENA=0;
   }
   else
   {
       ENA=1;
   }
   if(PWM_T2<=t)
   {
       ENB=0;
   }
   else
   {
       ENB=1;
   }
}
````