51单片机的循迹小车程序

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1、#include#defineuintunsignedint#defineucharunsignedcharsbitport_1=P3^5;sbitport_2=P3^4;sbitport_3=P3^1;sbitport_4=P3^0;sbiten_1=P3^2;sbiten_2=P3^3;sbitinfrared1=P0^2;sbitinfrared2=P0^3;sbitinfrared3=P0^4;ucharinfrared,num,left,right;voidinit(){TMOD=0x01;TH0=

2、(65536-1000)/256;TR0=(65536-1000)%256;EA=1;ET0=1;TR0=1;en_1=1;en_2=1;}voidmotor(ucharpesition){if(pesition==0){port_1=0;//左电机port_2=1;port_3=0;//右电机port_4=1;}if(pesition==1){port_1=0;//左电机port_2=1;port_3=1;//右电机port_4=0;}if(pesition==2){port_1=1;//左电机port_2=0;port_3

3、=0;//右电机port_4=1;}if(pesition==3){port_1=1;//左电机port_2=0;port_3=1;//右电机port_4=0;}if(pesition==4){port_1=0;//左电机port_2=0;port_3=0;//右电机port_4=0;}}voidinfraredscan(){if(!infrared1&&!infrared2&&!infrared3){motor(4);}if(!infrared1&&!infrared2&&infrared3){//if(num<=60)mo

4、tor(1);//else//motor(4);}if(!infrared1&&infrared2&&!infrared3){//if(num<=60)motor(0);//else//motor(4);}if(!infrared1&&infrared2&&infrared3){//if(num<=60)motor(1);//else//motor(4);}if(infrared1&&!infrared2&&!infrared3){//if(num<=60)motor(2);//else//motor(4);}if(infra

5、red1&&!infrared2&&infrared3){//if(num<=60)motor(4);//else//motor(4);}if(infrared1&&infrared2&&!infrared3){//if(num<=60)motor(2);//else//motor(4);}if(infrared1&&infrared2&&infrared3){//if(num<=60)motor(0);//else//motor(4);}}voidmain(){init();while(1){infraredscan();}

6、}voidT0_time()interrupt1{TH0=(65536-10000)/256;TR0=(65536-10000)%256;num++;if(num==100){num=0;}}