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#include<reg52.h>
#include<intrins.h>
sbit trig=P2^0;
sbit echo=P2^1;
sbit pwm1=P2^2;
sbit pwm2=P2^4;
unsigned long S=0;
unsigned long time;
unsigned long timer;
unsigned char count0;
unsigned char count1;
unsigned char jd,jd1;
unsigned char w0=0,w1=0;
bit flag =0;
void delay1s(void) //誤差 0us
{
unsigned char a,b,c;
for(c=167;c>0;c--)
for(b=171;b>0;b--)
for(a=16;a>0;a--);
_nop_();
}
void count()
{ while(!echo);
TR0=1;
while(echo);
TR0=0;
time=TH0*256+TL0;
TH0=0;
TL0=0;
S=(time*1.7)/100;
}
void Start()
{
trig=1;
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
trig=0;
}
void zd0() interrupt 1
{
flag=1;
}
void timer0() interrupt 3
{
static unsigned char zjd=5,zjd1=5;
TH1=(65536-500)/256; //2MS定時
TL1=(65536-500)%256;
if(w0==5)
{
if(zjd > jd)zjd--;
else if(zjd<jd)zjd++;
}
if(w0==5)
{
if(zjd1 > jd1)zjd1--;
else if(zjd1<jd1)zjd1++;
}
if(count0< zjd)
pwm1=1;
else
pwm1=0;
count0=(count0+1);
count0=count0%40;
if(count1< zjd1)
pwm2=1;
else
pwm2=0;
count1=(count1+1);
count1=count1%40;
w0++;
if(w0==6)w0 = 0;
}
void zhuaqu()
{
//Start();
//count();
if(S<20)
jd=1 ;
}
void taisheng()
{
//Start();
// count();
//if(S>20)
jd1=4 ;
}
void xiajiang()
{
//Start();
//count();
if(S<20)
jd1=2.5 ;
}
void songkai()
{
// Start();
// count();
// if(S>20)
jd=5;
}
void main()
{
TMOD=0x11; //設(shè)T0為方式1，GATE=1；
TH0=0;
TL0=0;
TH1=(65536-500)/256; //2MS定時
TL1=(65536-500)%256;
ET0=1; //允許T0中斷
ET1=1; //允許T1中斷
TR1=1; //開啟定時器
EA=1;
jd=5;
jd1=4;
count0=0;
count1=0;
while(1)
{
Start();
count();
xiajiang();delay1s();
zhuaqu();delay1s();
taisheng();delay1s();
songkai();delay1s();
}
}
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