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標題: 智能小車紅外避障程序 [打印本頁]

作者: a23806112 時間: 2017-2-7 22:35
標題: 智能小車紅外避障程序

#include <AT89X52.H>

#include <STRING.H>

#include <REG52.H>
#define FLeftMotor P1_0 = 1 ; P1_1 = 0
#define BLeftMotor P1_0 = 0 ; P1_1 = 1

#define FRightMotor P1_2 = 1 ; P1_3 = 0
#define BRightMotor P1_2 = 0 ; P1_3 = 1

#define LeftStop P1_0 = 1 ; P1_1 = 1
#define RightStop P1_2 = 1 ; P1_3 = 1

#define CarStop P1_0 = 1; P1_1 = 1 ; P1_2 = 1 ; P1_3 = 1

Senser=P3^2//延時//

Void delay1(unsigned int i)

{

While(--i)

}

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

// 左轉

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

void TurnLeft_1()
{
LeftStop ;
FRightMotor ;

}

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

// 壁障程序
//********************************************************
void Obstacle_Avoid(void)
{

if(!Senser)
{
Fleftmotor;

Frightmotor;
}

if((RightSenser) {
Turnright();

delay1(300);

Fleftmotor;Frightmotor;

Delay1(300);

Turnleft();

delay1(300);

Fleftmotor;Frightmotor;

}

//右轉//

void Turnright()

{

Rightstop;

Fleftmotor;

}

void Turnleft()

{

Leftstop;

Frightmotor;

}

中斷方式：

#include <AT89X52.H>

#include <REG52.H>

# include <string.h>

#define qianjin P1=0x0A; //前進//

#define zuozhuan P1=0x02; //左轉//

#define youzhuan P1=0x08; //右轉//

#define houtui P1=0x05; //后退//

#define shatin P1=0x0f; //剎停//

IE=0x05;

SETB EXO;SETB EX1;

Void bizhang (void) interrupt 0;

Void delay (unsigned char i);

Void main (void)

{ while(1){

qianjin; }

}

Void bizhang ( ) interrupt 0 //壁障函數//

{ EA=0;

zuozhuan;

delay(500);

shatin;

if(!(EX0||EX1))

{ zuozhuan;

delay(500);

shatin;

}

qianjin;

delay(30000);

zuozhuan;

delay(500);

EA=1;

}

Void delay (unsigned char i) //延時函數//

{ while(--i);

}

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