基于51单片机的循迹小车

#include <reg52.h> //--设定占空比--// #define left_speed 27 #define right_speed 25 #define turn_left_speed 70 #define turn_right_speed 70 //--定义使用的IO口--// sbit IN1 = P1^0; sbit IN2 = P1^1; sbit IN3 = P1^2; sbit IN4 = P1^3; sbit ENA = P1^4; sbit ENB = P1^5; sbit R = P2^1; sbit L = P2^2; sbit F1 = P2^3; sbit F2 = P2^4; unsigned char Duty_left,Duty_right,i=0,j=0; //------------------------------------------ void delay_ms(unsigned int n) { unsigned int i,j; for(i=n;i>0;i--) for(j=114;j>0;j--); } //------------------------------------------ void init()//定时器初始化 { L=1;//初始化 R=1; F1=1; F2=1; TMOD|=0x01; TH0=(65536-66)/256; TL0=(65536-66)%256; EA=1; ET0=1; TR0=1; ENA=1;//使能端口，初始化 ENB=1; } //-------------------------------------------- void time0(void)interrupt 1//中断程序 { i++;//调速在中断中执行 j++; if(i<=Duty_left) ENA=1; else ENA=0; if(i>100) { ENA=1; i=0; } if(j<=Duty_right) ENB=1; else ENB=0; if(j>100) { ENB=1; j=0; } TH0=(65536-66)/256; //取约150HZ，12M晶振，每次定时66us,分100次这样开头定义的变量正好直接表示占空比的数值 TL0=(65536-66)%256; } //----------------------------------------------- void turn_left()//左转，赋值 { Duty_left = turn_left_speed; Duty_right = right_speed; IN1=1; IN2=0; IN3=0; IN4=1; delay_ms(10); } //----------------------------------------------- void turn_right()//右转，赋值 { Duty_left = left_speed; Duty_right = turn_right_speed; IN1=0; IN2=1; IN3=1; IN4=0; delay_ms(10); } //----------------------------------------------- void turn_right90() { Duty_left = left_speed; Duty_right = right_speed; IN1=1; IN2=0; IN3=0; IN4=1; delay_ms(100); } //----------------------------------------------- /* void turn_left90() { Duty_left = left_speed; Duty_right = right_speed; IN1=0; IN2=1; IN3=1; IN4=0; delay_ms(100); } */ //----------------------------------------------- void straight()//直走 { Duty_left = left_speed; Duty_right = right_speed; IN1 =1; IN2 =0; IN3 =1; IN4 =0; } //----------------------------------------------- void xunji()//寻迹 { if(L==1 && R==0) turn_right(); else if(R==1 && L==0) turn_left(); else if(F1==0 || F2==0) turn_right90(); else straight(); } int main() { /* IN1=0; IN2=0; IN3=1; IN4=0; ENA=1; ENB=1; */ init(); while(1) { xunji(); } }