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#include<reg52.h>
#include<stdio.h>
#include<intrins.h>
#include<stdlib.h>
sbit left1=P1^0;
sbit left2=P1^1; //定義前方左側(cè)紅外探頭端口
sbit right1=P1^2;
sbit right2=P1^3; //定義前方右側(cè)紅外探頭端口
//sbit ENA=P1^4;
//sbit ENB=P1^5;
//sbit ENC=P1^6;
//sbit END=P1^7;
sbit L2A=P0^0; //定義左側(cè)電機(jī)驅(qū)動A端
sbit L2B=P0^1; //定義左側(cè)電機(jī)驅(qū)動B端
sbit R2A=P0^2; //定義右側(cè)電機(jī)驅(qū)動A端
sbit R2B=P0^3; //定義右側(cè)電機(jī)驅(qū)動B端
sbit L1A=P0^4; //定義左側(cè)電機(jī)驅(qū)動A端
sbit L1B=P0^5; //定義左側(cè)電機(jī)驅(qū)動B端
sbit R1A=P0^6; //定義右側(cè)電機(jī)驅(qū)動A端
sbit R1B=P0^7; //定義右側(cè)電機(jī)驅(qū)動B端
typedef unsigned int uint;
typedef unsigned char uchar ;
uchar R_data;
bit R_flag=0;
int tim=0;
int x=0;
int count = 0;
int v_speed,Distance=0,time=0;
char speed[7];
int PWM1 = 0;
int PWM2 = 0;
int pussy=0;
void itoa_00(int v_speed);
void Time0_Init(void);
void Outside0_Init(void);
void Uart_Init(void);
void xunji(void);
void tingzhi(void);
void qianjin(void);
void zuozhuan(void);
void youzhuan(void);
char exchange(int v_speed);
void delay_ms(uint i)//1ms??
{
uchar x,j;
for(j=0;j<i;j++)
for(x=0;x<=148;x++);
}
void Uart_SendByte(uchar Byte)
{
SBUF = Byte;
while(!TI) //è?1?·￠?ííê±?￡?ó2?t?á????TI
{
_nop_();
}
}
void main()
{
Uart_Init();
Time0_Init();
Outside0_Init();
while(1)
{
if(R_flag==1)
{
for(x=0;x<6;x++)
{
Uart_SendByte(speed[x]);
delay_ms(1);
}
R_flag=0;
}
xunji();
}
}
int cout;
void itoa_00(int v_speed)
{
cout = v_speed/100;
speed[0]=exchange(cout);
v_speed%=100;
cout = v_speed/10;
speed[1]=exchange(cout);
v_speed%=10;
speed[2]=exchange(v_speed);
speed[3] = '\n';
speed[4]='\0';
}
char exchange(int v_speed)
{
switch(v_speed)
{
case 0:return '0';
case 1:return '1';
case 2:return '2';
case 3:return '3';
case 4:return '4';
case 5:return '5';
case 6:return '6';
case 7:return '7';
case 8:return '8';
case 9:return '9';
}
return '\0';
}
void Uart_Init(void)
{
TMOD = 0x21; //?¨ê±?÷1¤×÷?ú?¨ê±?÷1μ?·?ê?2
PCON = 0x00; //2?±??μ
SCON = 0x50; //′?ú1¤×÷?ú·?ê?1￡?2￠?ò???ˉ′DD?óê?
TH1 = 0xFd; //éè??2¨ì??ê 9600
TL1 = 0xFd;
TR1 = 1; //???ˉ?¨ê±?÷1
ES = 1; //?a′?ú?D??
EA = 1; //?a×ü?D??
}
void Time0_Init() //?¨ê±?÷?D??0????
{
TMOD = 0x21;
TH0 = 0xfc; //11.0592 ---0.05s
TL0 = 0x18;
ET0 = 1;
TR0 = 1;
EA = 1;
}
void Outside0_Init()
{
EX0 = 1;
IT0 = 1;
EA = 1;
}
void EX0_ISR() interrupt 0
{
Distance += 1;
}
void Timer0Interrupt() interrupt 1 //?¨ê±?÷?D??
{
TH0 = 0xfc; //11.0592 ---0.05s
TL0 = 0x18;
pussy++;
count++;
if(count == 1000)
{
time+=1;
count=0;
}
if(pussy<7)
{PWM1=0;}
if(7<=pussy<10)
{PWM1=1;}
if(pussy==10)
{pussy=0;}
}
void Uart_Int(void) interrupt 4
{
if(RI == 1)
{
v_speed = Distance/time;
itoa_00(v_speed);
RI = 0;
R_flag=1;
}
}
void tingzhi()
{
//ENA=0;
L1A=0; //定義左側(cè)電機(jī)驅(qū)動A端
L1B=0; //定義左側(cè)電機(jī)驅(qū)動B端
//ENB=0;
L2A=0; //定義右側(cè)電機(jī)驅(qū)動A端
L2B=0; //定義右側(cè)電機(jī)驅(qū)動B端
//ENC=0;
R1A=0; //定義左側(cè)電機(jī)驅(qū)動A端
R1B=0; //定義左側(cè)電機(jī)驅(qū)動B端
//END=0;
R2A=0; //定義右側(cè)電機(jī)驅(qū)動A端
R2B=0; //定義右側(cè)電機(jī)驅(qū)動B端
}
void qianjin()
{
//ENA=1;
L1A=0;
L1B=1;
//ENB=1;
L2A=0;
L2B=1;
//ENC=1;
R1A=1;
R1B=0;
//END=1;
R2A=0;
R2B=1;
}
void zuozhuan1()
{
//ENA=1;
L1A=0; //定義左側(cè)電機(jī)驅(qū)動A端
L1B=0; //定義左側(cè)電機(jī)驅(qū)動B端
//ENB=1;
L2A=0; //定義右側(cè)電機(jī)驅(qū)動A端
L2B=0; //定義右側(cè)電機(jī)驅(qū)動B端
//ENC=1;
R1A=0; //定義左側(cè)電機(jī)驅(qū)動A端
R1B=1; //定義左側(cè)電機(jī)驅(qū)動B端
//END=1;
R2A=1; //定義右側(cè)電機(jī)驅(qū)動A端
R2B=0; //定義右側(cè)電機(jī)驅(qū)動B端
}
void youzhuan1()
{
// ENA=1;
L1A=0; //定義左側(cè)電機(jī)驅(qū)動A端
L1B=1; //定義左側(cè)電機(jī)驅(qū)動B端
//ENB=1;
L2A=0; //定義右側(cè)電機(jī)驅(qū)動A端
L2B=1; //定義右側(cè)電機(jī)驅(qū)動B端
R1A=0; //定義左側(cè)電機(jī)驅(qū)動A端
R1B=0; //定義左側(cè)電機(jī)驅(qū)動B端
R2A=0; //定義右側(cè)電機(jī)驅(qū)動A端
R2B=0; //定義右側(cè)電機(jī)驅(qū)動B端
}
void xunji()
{
if((right2 == 0)&&(right1 == 0)&&(left1 == 0)&&(left2 == 0))
{
qianjin();
}
if((right2 == 0)&&(right1 ==1)&&(left1 == 0)&&(left2 == 0))
{
youzhuan1();
}
if((right2 == 0)&&(right1 == 0)&&(left1 == 1)&&(left2 == 0))
{
zuozhuan1();
}
if((right2 == 0)&&(right1 == 0)&&(left1 == 0)&&(left2 == 1))
{
zuozhuan1();
}
if((right2 == 1)&&(right1 == 0)&&(left1 == 0)&&(left2 == 0))
{
youzhuan1();
}
if((right2 == 1)&&(right1 == 1)&&(left1 == 1)&&(left2 == 1))
{
if(tim<100)
{
qianjin();
delay_ms(100);
tingzhi();
}
}
}
}

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