#include<reg52.h>
sbit rs=P0^0;
sbit rw=P0^1;
sbit en=P0^2;
sbit sensera=P1^0;
sbit senserb=P1^1;
sbit senserc=P1^2;
sbit senserd=P1^3;
sbit in1=P1^4;
sbit in2=P1^5;
sbit in3=P1^6;
sbit in4=P1^7;
int left_low,left_high,right_low,right_high;
unsigned char leftsign,rightsign;
unsigned char leftback,rightback;
void timer0init()
{
TMOD=0x01;
TH0=0x00;
TL0=0x00;
EA=1;
ET0=1;
TR0=1;
}
void timer0(void) interrupt 1
{
if(leftback)
{
leftsign=!leftsign;
if(!leftsign)
{
TH0 =(65536-left_low)/256;
TL0 =(65536-left_low)%256;
in1=0;
in2=0;
}
if(leftsign)
{
TH0=(65536-left_high)/256;
TL0=(65536-left_high)%256;;
in1=1; //倒转
in2=0;
}
}
else
{
leftsign=!leftsign;
if(!leftsign)
