C语言 基于51单片机的两传感器小车循迹代码参考

供大家学习参考

#include"reg52.h"
#include"intrins.h" 

sbit PWMA_1=P1^0;
sbit PWMA_2=P1^1;
sbit PWMB_1=P1^2;
sbit PWMB_2=P1^3;
sbit MTA_EN_1=P1^6;
sbit MTB_EN_1=P1^7;
sbit left=P2^1;
sbit right=P2^2;        //此处引脚号应与硬件相对应

typedef unsigned char u8;
typedef unsigned int u16;

void delay(u16 i)
{
 while(i--); 
}                      //设置延迟

void lgo()           //下面开始定义常用的新函数
{
    PWMA_1=1;
 PWMA_2=0;
 MTA_EN_1=0;    
}

void lback()
{
    PWMA_1=0;
 PWMA_2=1;
 MTA_EN_1=0;    
}

void lstay()
{
    MTA_EN_1=1;
}

void rgo()
{
    PWMB_1=1;
 PWMB_2=0;
 MTB_EN_1=0;
}

void rback()
{
    PWMB_1=0;
 PWMB_2=1;
 MTB_EN_1=0;
}

void rstay()
{
    MTB_EN_1=1;
}

void main()                  //主程序运行
{ 
    while(1)
 {
     if(left==0&&right==1) 
      {
      lgo();delay(1000);
   lstay();delay(1500);
      rback();delay(1000);
   rstay();delay(1500);        
     }
  if(left==1&&right==0) 
  {
   rgo();delay(1000);
   lstay();delay(1500);
   lback();delay(1000);
   rstay();delay(1500); 
  }
  if(left==0&&right==0)
  {
      lgo();delay(1000);
   lstay();delay(900);
   rgo();delay(1000);
   rstay();delay(900);
  }
  if(left==1&&right==1)
  {
    lback();delay(1000);
    lstay();delay(1200);
    rback();delay(1000);
    rstay();delay(1200);       
  }
 }
}