51循迹小车舵机c语言程序,红外循迹小车c程序(舵机小车).doc

红外循迹小车c程序(舵机小车)

#include

sbit servo=P2^5;

uint control=12;

uint jishu;

uint pianchu;

sbit zuo11=P3^4; //为0为左边正转

sbit zuo12=P3^5; //为1为左边正转

sbit you21=P3^6; //为1为右边正转

sbit you22=P3^7; //为0为右边正转

uint sp,speed=3;

uint ji=1,guang,bi; //判断循迹寻光变量

uint stop1,stop2,stop3;

void delay(uint a)

{

uint b,c;

for(b=a;b>0;b--)

for(c=115;c>0;c--);

}

void qianjin() //可以当做延时函数来用

{

//P3=0x0f;

//delay(speed);

P3=0xf9;

}

void initial_T0()

{

TMOD=0x21;

TH1=0x8c;

TL1=0x8c;

EA=1;

ET1=1;

TR1=1;

}

void xunji()

{

if(P1==0x00)

{

qianjin();

}

//if(P1==0x20)

//{

加速

//qianjin();

//speed=2;

//qianjin();

//qianjin();

//}

if(P1==0x10)

{

//左转

qianjin();

control+=1;

qianjin();

while(P1!=0x20)

{

if(P1==0x08)

{

//大角度左转

qianjin();

qianjin();

control+=1;

while(P1!=0x10)

{

//if(P1==0x00) //偏出跑道，小车停止

//{

//speed=10000;

//}

pianchu++;

if(pianchu>=20000)

{

break;

}

}

pianchu=0;

control-=1;

qianjin();

qianjin();

}

pianchu++;

if(pianchu>=20000)

{

break;

}

}

pianchu=0;

control-=1;

qianjin();

qianjin();

}

if(P1==0x40)

{

//右转

qianjin();

control-=1;

qianjin();

while(P1!=0x20)

{

if(P1==0x80)

{

//大角度右转

qianjin();

control-=1;

qianjin();

while(P1!=0x40)

{

//if(P1==0x00) //偏出跑道，小车停止

//{

//speed=10000;

//}

pianchu++;

if(pianchu>=20000)

{

break;

}

}

pianchu=0;

qianjin();

control+=1;

qianjin();

}

pianchu++;

if(pianchu>=20000)

{

break;

}

}

pianchu=0;

qianjin();

control+=1;

qianjin();

}

}

void main()

{

initial_T0();

P1=0xf8;

while(1)

{

stop1=P1;

if(stop1==stop2)

{

stop3++;

}

else

{

stop3=0;

}

xunji();

if(P1==0x80||P1==0x08||stop3>10000)

{

P3=0x00;

while(1);

}

stop2=P1;

}

}

void T0_