智能小车-----寻迹的代码

注：使用的是l298的还有rpr220的芯片和扫描做的。

 

 

#include
#include"./delay/delay.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)
 {

  ENA = 1;
 }
 else
 {
  ENA = 0;
 }
 if(t < zkb2)
 {

  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();
 IN1 = 0;
 IN2 = 1;
    IN3 = 0;
    IN4 = 1;
 while(1)
 {
   
   xunji();
  
 }
}