循迹避障智能小车c语言程序,智能循迹避障小车完整程序(亲测好使)

/*******************************************

//利用51定时器产生PWM波来调节电机速度

//速度变化范围从0-100可调

//使用三路做寻迹使用,哪一路检测在黑线哪一路为

//高电平

//没检测到黑线表示有反射 对应输出低电平信号

*********************************************/

#include

#define uint unsigned int

#define uchar unsigned char

/*电机四个接口定义*/

sbit in1=P0^0;

sbit in2=P0^1;

sbit in3=P0^2;

sbit in4=P0^3;

/*计时器*/

uchar j,k,i,a,A1,A2,second,minge,minshi;

sbit dula=P2^6;

sbit wela=P2^7;

uchar code table[]={0x3f,0x06,0x5b,0x4f,

0x66,0x6d,0x7d,0x07,

0x7f,0x6f,0x77,0x7c,

0x39,0x5e,0x79,0x71};

uchar code table2[]={0xbf,0x86,0xdb,0xcf,

0xe6,0xed,0xfd,0x87,

0xff,0xef,0xf7,0xfc,

0xb9,0xde,0xf9,0xf1};

void delay(uchar i)

{

for(j=i;j>0;j--)