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#include<reg52.h>
#include<intrins.h>
#define uchar unsigned char
#define uint unsigned int
#define barrierDis 15
uint sum;
float L;
sbit LED = P0^0;
sbit Trig = P1^5; //??????TRIG
sbit Echo = P1^6; //??????ECHO
sbit motorDriver_1 =P2^1; //???????,????????L298n???IN1
sbit motorDriver_2 =P2^2; //???????,????????L298n???IN2
sbit motorDriver_3 =P2^5; //???????,????????L298n???IN3
sbit motorDriver_4 =P2^4; //???????,????????L298n???IN4
sbit servorControl =P1^7; //???????
uchar flag=0;
uchar control=5;
uchar servorTime=0;
uchar lFlag=0;//???????????
uchar rFlag=0;//???????????
void delay(uchar time){ //????
uchar i;
for(;time>0;time--){
for(i=0;i<255;i++);
}
}
void stop(){ //????
motorDriver_1=0;
motorDriver_2=0;
motorDriver_3=0;
motorDriver_4=0;
}
void turnLeft(){ //?????
motorDriver_1=1;
motorDriver_2=0;
motorDriver_3=0;
motorDriver_4=0;
} //?????
void turnRight(){
motorDriver_1=0;
motorDriver_2=0;
motorDriver_3=1;
motorDriver_4=0;
}
void turnUp(){ //?????
motorDriver_1=1;
motorDriver_2=0;
motorDriver_3=1;
motorDriver_4=0;
}
void turnDown(){ //?????
motorDriver_1=0;
motorDriver_2=1;
motorDriver_3=0;
motorDriver_4=1;
}
void openHc(){
Trig=1;
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
Trig=0;
}
uchar getDistance(){ //??????????????
TH0=0;
TL0=0;
openHc();
while(!Echo);
TR0=1;
while(Echo);
TR0=0;
sum=TH0*256+TL0;
L=(sum*1.78)/100;
if(L<barrierDis&&flag==0){
LED=0;
return 0;
}
else{
LED=1;
flag=0;
return 1;
}
}
void main(){
LED=1;
EA=1;
ET0=1;
ET1=1;
TMOD=0x11;
TH1=0xff;
TL1=0x9c;
servorTime=0;
while(1){
stop();
control=15;//??????????????
servorTime=0;
TR1=1;
delay(200);
TR1=0;
turnUp();
LED=0;
delay(200);
LED=1;
while(getDistance()==1); //????,????????
do{
stop();
control=22; //???????
servorTime=0;
TR1=1;
delay(200);
TR1=0;
rFlag=getDistance();
control=5; //???????
servorTime=0;
TR1=1;
delay(200);
TR1=0;
lFlag=getDistance();
turnDown();
delay(220);
delay(220);
delay(220);
}while(lFlag==0&&rFlag==0);
if(rFlag==1&&lFlag==0) //???????
turnLeft();
else if(rFlag==0&&lFlag==1)//???????
turnRight();
else if(rFlag==1&&lFlag==1)//????????,?????
turnLeft();
delay(220);
delay(220);
delay(200);
}
}
void T1_int(void) interrupt 3{ //??????????
TH1=0xff;
TL1= 0x9c;
servorTime++;
if(servorTime<=control)
servorControl=1;
else
servorControl=0;
if(servorTime>=200)
servorTime=0;
}
void T0_int(void) interrupt 1{ //?????????
flag=1;
}
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