51单片机智能小车

#include<reg52.h>

#define uint unsigned int
#define uchar unsigned char

uchar zkb_left1,zkb_right1,zkb_left2,zkb_right2,i1,j1,i2,j2; 

sbit IN1=P3^5;
sbit IN2=P3^4;
sbit IN3=P3^3;
sbit IN4=P3^2;
sbit IN5=P2^0;
sbit IN6=P2^1;
sbit IN7=P2^2;
sbit IN8=P2^3;



sbit xj_left=P1^0;    
sbit xj_mid=P1^1;
sbit xj_right=P1^2;
sbit xj_yy=P1^4;
sbit xj_zz=P1^3;




sbit zkba=P0^0;  
sbit zkbb=P0^1;
sbit zkbc=P0^2;   

sbit zkbd=P0^3;


void delay_ms(uint z)
{
uchar x,y;
for(x=z;x>0;x--)
for(y=40;y>0;y--);
}

void init()   
{
TMOD=0x01;
TH0=(65536-100)/256;
TL0=(65536-100)%256 ;
EA=1;
ET0=1;
TR0=1;
zkba=1;
zkbb=1;
zkbc=1;
zkbd=1;
}



void time0() interrupt 1   
{
i1++;j1++;i2++;j2++;   
if(i1<zkb_right1) {zkbb=1;}