51单片机三路超声波避障

第一次做,这个是麦克纳姆轮轮的程序,看着是没有任何问题的,但是小车不会动,求大佬帮助.
程序如下

// An highlighted block

#include <REGX51.H>

#define uint unsigned int
#define uchar unsigned char

uint PWM = 5;          //最大20，pwm调速
uchar time = 0;
uint Shi_Jian;
uint a,b,c,FJL,LJL,RJL;

void Delay (uint t)                //@11.0592MHz    100us
{
   
        unsigned char i;
        while (t)
        {
   
               
                i = 43;
                while (--i);
                t--;
        }
}


void Timer_Init()   //定时器    @11.0592MHZ   0.1ms
{
   
        TMOD = 0x11;
        TH0 = 0xFB;
        TL0 = 0xAF;
        TF0        = 0;         
        ET0 = 1;          //允许中断
        EA = 1;           //开启总中断
        TR0 = 1;          /开启定时器
        
        TF1        = 0;
        TH1 = 0;
        TL1 = 0;
}



void Timer0_Rountine() interrupt 1   //T0  中断
{
   
        time++;
        TH0 = 0xFB;
        TL0 = 0xAF;
        if(time >= 20)
                time = 0;
}
int Front_Ju_Li ()               //测前方距离