智能小车_走黑线_避障_物体跟随_红外遥控_C程序

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1、#include"reg52.h"#include/*接线定义*/sbitIN1=P1^5;sbitIN2=P1^6;sbitIN3=P1^1;sbitIN4=P1^0;sbitEN1=P1^3;sbitEN2=P1^4;/*传感器接线定义*/sbitLeft_InSen=P2^4;sbitRight_InSen=P2^0;sbitbleft=P2^3;sbitbright=P2^1;sbitBUZZ=P1^7;/*遥控器接线定义*/sbitb=P0^7;//对应D0Bsbitd=P0^6;//对应D1Dsbita=P0^5;/

2、/对应D2Asbitc=P0^4;//对应D3C/*按键功能定义*/sbitk2=P3^0;//走黑线sbitk3=P3^1;//避障sbitk4=P3^2;//物体跟随sbitk5=P3^3;//遥控器/*标志位定义*/bitflag_heixian=0;bitflag_bizhang=0;bitflag_gensui=0;bitflag_yaokong=0;voiddelay(unsignedintn){unsignedchari,j,k;for(k=0;k<=n;k++){_nop_();_nop_();i=5;j=6;do{while(--j

3、);}while(--i);}}voidbeep(void){unsignedchari;for(i=0;i<3;i++){BUZZ=~BUZZ;delay(10);}BUZZ=1;}voidgogogo(void){IN1=1;IN2=0;IN3=1;IN4=0;}voidbackbackback(void){IN1=0;IN2=1;IN3=0;IN4=1;}voidstop(void){IN1=0;IN2=0;IN3=0;IN4=0;}voidturnleft(void){IN1=0;IN2=1;IN3=1;IN4=0;}voidturnrigh

4、t(void){IN1=1;IN2=0;IN3=0;IN4=1;}voidkeyscan(){/*走黑线按键设置*/if(k2==0){while(!k2);flag_heixian=1;flag_bizhang=0;flag_gensui=0;flag_yaokong=0;}/*避障按键设置*/if(k3==0){while(!k3);flag_heixian=0;flag_bizhang=1;flag_gensui=0;flag_yaokong=0;}/*物体跟随按键设置*/if(k4==0){while(!k4);flag_heixian=0;

5、flag_bizhang=0;flag_gensui=1;flag_yaokong=0;}/*遥控器按键设置*/if(k5==0){while(!k5);flag_heixian=0;flag_bizhang=0;flag_gensui=0;flag_yaokong=1;}}voidmain(void){flag_heixian=0;flag_bizhang=0;flag_gensui=0;flag_yaokong=0;while(1){keyscan();//按键扫描/*走黑线程序设计*/if(flag_heixian){delay(1);if(L

6、eft_InSen==1&&Right_InSen==0){turnright();delay(10-4);stop();delay(4);}elseif(Left_InSen==0&&Right_InSen==1){turnleft();delay(10-4);stop();delay(4);}else{gogogo();delay(10-7);stop();delay(7);}}/*避障程序设计*/if(flag_bizhang){delay(1);if(bleft==0&&bright==0)//1(灭)没有检测到有障碍物0（亮）检测到没有障碍

7、物{gogogo();delay(4);stop();delay(6);}if(bleft==1&&bright==1){BUZZ=0;backbackback();delay(4);stop();BUZZ=1;delay(6);}if(bleft==1&&bright==0){turnright();delay(2);stop();delay(8);}if(bleft==0&&bright==1){turnleft();delay(2);stop();delay(8);}}/*物体跟随程序设计*/if(flag_gensui){delay(1);i

8、f(bleft==0&&bright==0)//1(灭)没有检测到有障碍物0（亮）检测到没有障碍物{gogo