基于51单片机的循迹小车.zip

#include<reg52.h> sbit L2_IN1=P1^2; sbit L2_IN2=P1^3; sbit L2_IN3=P1^4; sbit L2_IN4=P1^5; sbit L2_EN1=P1^6; sbit L2_EN2=P1^7; sbit RED_L=P3^3; //左边红外传感器 sbit RED_R=P3^4; //右边外红传感器 unsigned char pwm_l =0; unsigned char push_l =0; //左电极占空比N/20 unsigned char pwm_r =0; unsigned char push_r =0; unsigned char pwm_t; void Left() { push_l=12; push_r=12; L2_IN1 =1; //左电机负极 L2_IN2 =0; //左电极正极 L2_IN3 =1; //右电机正极 L2_IN4 =0; } void Right() { push_l=12; push_r=12; L2_IN1 =0; //左电机负极 L2_IN2 =1; //左电极正极 L2_IN3 =0; //右电机正极 L2_IN4 =1; } void Run() { push_l=12; push_r=12; L2_IN1 =0; //左电机负极 L2_IN2 =1; //左电极正极 L2_IN3 =1; //右电机正极 L2_IN4 =0; } void Stop() { push_l=0; push_r=0; L2_IN1 =0; //左电机负极 L2_IN2 =0; //左电极正极 L2_IN3 =0; //右电机正极 L2_IN4 =0; } int main() { TMOD |=0x02; TH0=0XFc; //1ms定时 TL0=0X18; TR0=1; ET0=1; EA=1; while(1) { if(RED_R==0 && RED_L==0) Run(); else if(RED_R==1 && RED_L==0) Right(); else if(RED_R==0 && RED_L==1) Left(); else if(RED_R==1 && RED_L==1) Stop(); } }