避障跟随测距c语言程序,红外避障小车c语言程序.doc

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智能小车红外避障c语言程序

#include

bit RandomFactor = 0 ;bit RandomFactorBuf = 0 ;#include

#define FLeftMotor P0_2 = 1 ; P0_3 = 0 #define BLeftMotor P0_2 = 0 ; P0_3 = 1

#define FRightMotor P0_5 = 1 ; P0_4 = 0 #define BRightMotor P0_5 = 0 ; P0_4 = 1

#define LeftStop??? P0_2 = 0 ; P0_3 = 0 #define RightStop?? P0_4 = 0 ; P0_5 = 0

#define CarStop P0_2 = 0 ; P0_3 = 0 ; P0_4 = 0 ; P0_5 = 0

#define RightSenser P0_0 #define LeftSenser P0_1

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

// 左转

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

void TurnLeft_1(){LeftStop ;FRightMotor ;

}

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

// 快速左转

//********************************************************void TurnLeft_Fast(){BLeftMotor ;FRightMotor ;}

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

// 右转

//********************************************************void TurnRight_1(){RightStop ;FLeftMotor ;}

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

// 快速右转

//********************************************************void TurnRight_Fast(){BRightMotor ;FLeftMotor ;}

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

// 用倒退的方式进行车头右转

//********************************************************void BTurnRight_1(){LeftStop ;BRightMotor ; }

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

// 用倒退的方式进行车头左转

//********************************************************void BTurnLeft_1(){ RightStop ;BLeftMotor ; }

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

// 前进

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

void FCar(){FLeftMotor ;FRightMotor ;}

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

// 后退

//********************************************************void BCar(){BLeftMotor ;BRightMotor ;}

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

// 壁障程序//********************************************************void Obstac