|
|
|
#include <reg52.h> sbit IN1 = P1^0; sbit IN2 = P1^1; sbit ENA = P1^2; sbit IN3 = P1^3; sbit IN4 = P1^4; sbit ENB = P1^5; sbit left1 = P0^0; sbit left2 = P0^1; sbit right1 = P0^2; sbit right2 = P0^3; unsigned char zkb1 = 0; unsigned char zkb2 = 0; unsigned char t = 0; void init() { EA = 1; TMOD |= 0x01; TH0 =(65536 - 100) / 256; TL0 = (65536 - 100)% 256; ET0 = 1; TR0 = 1; } void timer0() interrupt 1 { TH0 = (65536 - 100) / 256; TL0 = (65536 - 100) % 256; if(t < zkb1) { // if(t % 2 == 0) // { // ENA = 1; // } // else // { // ENA = 0; // } ENA = 1; } else { ENA = 0; } if(t < zkb2) { // if(t%2 == 0) // { // ENB = 1; // } // else // { // ENB = 0; // } ENB =1; } else { ENB = 0; } ++t; if(t >= 50) { t = 0; } } void turn_left1() { zkb1 = 13; zkb2 = 0; } void turn_left2() { zkb1 = 13; zkb2 = 0; } void turn_right1() { zkb1 = 0; zkb2 = 13; } void turn_right2() { zkb1 = 0; zkb2 = 13; } void qianjin() { zkb1 = 8; zkb2 = 8; } void xunji() { unsigned char flag; if((right2 == 0)&&(right1 == 0)&&(left1 == 0)&&(left2 == 0)) { flag = 0; } if((right2 == 0)&&(right1 ==1)&&(left1 == 0)&&(left2 == 0)) { flag = 1; } if((right2 == 0)&&(right1 == 0)&&(left1 == 1)&&(left2 == 0)) { flag = 2; } if((right2 == 0)&&(right1 == 0)&&(left1 == 0)&&(left2 == 1)) { flag = 3; } if((right2 == 1)&&(right1 == 0)&&(left1 == 0)&&(left2 == 0)) { flag = 4; } switch(flag) { case 0:qianjin();break; case 1:turn_right1();break; case 2:turn_left1();break; case 3:turn_left2();break; case 4:turn_right2();break; default:qianjin();break; } } void main() { init(); // zkb1 = 40; // zkb2 = 30; IN1 = 0; IN2 = 1; IN3 = 0; IN4 = 1; while(1) { xunji(); } } |
|
QQ好友和群
QQ空間
騰訊微博
騰訊朋友
收藏
淘帖
頂
踩
