基于STM32的轨迹小车寻迹程序(仅含源代码).zip

#include<reg52.h> sbit P00=P0^0; //循迹口 sbit P01=P0^1; sbit P02=P0^2; sbit P04=P0^4; //电机1 左轮 sbit P05=P0^5; sbit P06=P0^6; //电机2 sbit P07=P0^7; unsigned int i=0,j=0; void main() { while(1) { P04=1;P05=1;P06=1; P07=1; TMOD=0X01; EA=1; ET0=1; if(P00==0&&P01==1&&P02==0) // 小车直走 定时0.002ms { TH0=0XFF; //定时0.01ms TL0=0xFe; TR0=1; } if(P00==0&&P01==0&&P02==1) //小车右转 定时0.005ms { TH0=0XFF; TL0=0Xfb; TR0=1; } if(P00==1&&P01==0&&P02==0) //小车左转 定时0.005ms { TH0=0XFF; TL0=0XFb; TR0=1; } if(P00==1&&P01==1&&P02==1) //全部检测到黑线时 车停 { TH0=0XFF; TL0=0Xfb; TR0=1; } } } xiong() interrupt 1 { if(P00==0&&P01==1&&P02==0) //小车直线快走 定时0.002ms { TH0=0XFF; TL0=0xFe; P04=0; //电机1 左轮 P05=1; P06=1; //电机2 右转 P07=0; } if(P00==0&&P01==0&&P02==1) //小车右转 定时0.005ms { TH0=0XFF; TL0=0Xfb; P04=1; //电机1 左轮 P05=1; P06=1; //电机2 P07=0; i=1; } if(P00==0&&P01==0&&P02==0&&i==1) // 特别 {TH0=0XFF; TL0=0Xfb; P04=1; P05=1; P06=1; P07=0; j=0; } if(P00==1&&P01==0&&P02==0) //小车左转 定时0.005ms { TH0=0XFF; TL0=0XFb; P04=0; //电机1 P05=1; P06=1; //电机2 P07=1; j=1; } if(P00==0&&P01==0&&P02==0&&j==1) // 特别 { TH0=0XFF; TL0=0Xfb; P04=0; P05=1; P06=1; P07=1; i=0; } if(P00==1&&P01==1&&P02==1) { //全部检测到黑线时 车停 TH0=0XFF; TL0=0Xfb; P04=1; P05=1; P06=1; P07=1;} }