PWM程序控制小车

PWM程序控制小车:   #include<reg52.h>   sbit rs=P0^0; sbit rw=P0^1; sbit en=P0^2;   sbit sensera=P1^0; sbit senserb=P1^1; sbit senserc=P1^2; sbit senserd=P1^3; sbit in1=P1^4; sbit in2=P1^5; sbit in3=P1^6; sbit in4=P1^7;   int left_low,left_high,right_low,right_high;   unsigned char leftsign,rightsign; unsigned char leftback,rightback; void timer0init() {     TMOD=0x01; TH0=0x00; TL0=0x00; EA=1; ET0=1; TR0=1;   } void timer0(void) interrupt 1 { if(leftback) {    leftsign=!leftsign;    if(!leftsign)    {     TH0 =(65536-left_low)/256;     TL0 =(65536-left_low)%256;     in1=0;     in2=0;    }    if(leftsign)    {     TH0=(65536-left_high)/256;     TL0=(65536-left_high)%256;;     in1=1;           //倒转     in2=0;    } } else {    leftsign=!leftsign;    if(!leftsign)    {     TH0=(65536-left_low)/256;     TL0=(65536-left_low)%256;     in1=0;     in2=0;    }    if(leftsign)    {     TH0=(65536-left_high)/256;     TL0=(65536-left_high)%256;;     in1=0;     in2=1;    } }   } void timer1init() {     TMOD=0x10; TH1=0x00; TL1=0x00; EA=1; ET1=1; TR1=1; } void timer1(void) interrupt 3 { if(rightback) {    rightsign=!rightsign;    if(!rightsign)    {     TH1=(65536-right_low)/256;     TL1=(65536-right_low)%256;     in3=0;     in4=0;    }    if(rightsign)    {     TH1=(65536-right_high)/256;     TL1=(65536-right_high)%256;     in3=1;     in4=0;    } } else {    rightsign=!rightsign;    if(!rightsign)    {     TH1=(65536-right_low)/256;     TL1=(65536-right_low)%256;     in3=0;     in4=0;    }    if(rightsign)    {     TH1=(65536-right_high)/256;     TL1=(65536-right_high)%256;     in3=0;     in4=1;    } }   } void testsenser() //左 直 右 停 后（01234）大拐 小拐 无意义（310） {   if((sensera==0&&senserb==0&&senserc==0&&senserd==1)||(sensera==0&&senserb==1&&senserc==1&&senserd==1)) // 右大拐   {    leftback=0;   rightback=1;   ET0=1;   ET1=1;   left_high=20000;   left_low=40000;   right_high=20000;   right_low=40000;   }     else if((sensera==0&&senserb==0&&senserc==1&&senserd==1)||(sensera==0&&senserb==0&&senserc==1&&senserd==0))//  右小拐   {    leftback=0;   rightback=1;   ET0=1;   ET1=1;   left_high=20000;   left_low=40000;   right_high=10000;   right_low=40000;   }   else if((sensera==1&&senserb==0&&senserc==0&&senserd==0)||(sensera==1&&senserb==1&&senserc==1&&senserd==0))  // 左大拐   {    leftback=1;   rightback=0;   ET0=1;   ET1=1;    left_high=20000;   left_low=40000;   right_high=20000;   right_low=40000;   }   else if((sensera==1&&senserb==1&&senserc==0&&senserd==0)||(sensera==0&&senserb==1&&senserc==0&&senserd==0))    // 左小拐   {    leftback=1;   rightback=0;   ET0=1;   ET1=1;    left_high=10000;   left_low=40000;   right_high=20000;   right_low=40000;   }   else if(sensera==1&&senserb==1&&senserc==1&&senserd==1)// 停   {    leftback=0;   rightback=0;   ET0=0;   ET1=0;      in1=0;      in2=0;      in3=0;   in4=0;   }   else if(sensera==0&&senserb==0&&senserc==0&&senserd==0)// 后退   {    leftback=1;   rightback=1;   ET0=1;   ET1=1;    left_high=10000;   left_low=50000;   right_high=10000;   right_low=50000;   }   else  //直走   {    leftback=0;   rightback=0;   ET0=1;   ET1=1;    left_high=10000;   left_low=50000;   right_high=20000;   right_low=50000;   }    }                 void main() { timer0init(); timer1init(); while(1)   testsenser(); } 复制代码

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