關于單片機循跡小車的一些小問題,需要在循跡1分半鐘后跳出主函數實現直行5秒

ID:281692 · 發表于 2018-12-22 20:07

大背景是一個51單片機控制的一個小車，但需要在循跡1分半鐘后跳出主函數實現直行5秒，再返回主函數，拜托各位大神出出主意，
原代碼如下：#include <REGX52.H>

sbit LeftIR=P3^5;
sbit RightIR=P3^6;
sbit xunjiLED=P2^1;

sbit M1A=P0^0;
sbit M1B=P0^1;
sbit M2A=P0^2;
sbit M2B=P0^3;
sbit B1=P0^4;
sbit SB1=P0^6;

void tingzhi()
{
M1A=0;                                  //??M1???A???????0
M1B=0;                                  //??M1???B???????0
M2A=0;                                  //??M2???A???????0
M2B=0;
}
void qianjin()
{
M1A=1;
M1B=0;
M2A=1;
M2B=0;
}
void houtui()
{
M1A=0;
M1B=1;
M2A=0;
M2B=1;
}
void zuozhuan()
{
M1A=0;
M1B=1;
M2A=1;
M2B=0;
}
void youzhuan()
{
M1A=1;
M1B=0;
M2A=0;
M2B=1;
}
void delay_nus(unsigned int i)
{
  i=i/10;
  while(--i);
}
void delay_nms(unsigned int n)
{
  n=n+1;
  while(--n)
  delay_nus(900);

}

void ControlCar(unsigned char ConType)
{

  tingzhi();
switch(ConType)
{
  case 1:  //???
  {
qianjin();
break;
  }
  case 2: //????
  {
houtui();
break;
  }
  case 3: //???
  {
zuozhuan();                            //M2??????
break;
  }
  case 4: //???                         //?ж?????????????4
  {
youzhuan();                               //M1??????
                                       //M2??????
break;
  }
  case 8: //??                         //?ж?????????????8
  {
tingzhi();
break;                               //?????????
  }
}
}
void main()                            //?????????
{
  bit RunFlag=0;                         //????С?????б??λ
  //RunShow=0;                            //??????????
  ControlCar(8);                         //?????С????????
  while(1)                               //?????????
  {

xunjiLED = 0 ;
Start:
if(LeftIR == 0 && RightIR == 0)
{
   ControlCar(1);
   delay_nms (10);
goto NextRun;
}

if(LeftIR == 0 && RightIR == 1)
{
   ControlCar(3);
   delay_nms (10);
goto NextRun;
}
if(LeftIR == 1 && RightIR == 0)
{
   ControlCar(4);
   delay_nms (10);
goto NextRun;
}
if(LeftIR== 1&&RightIR == 1)
{
   ContrplCar(4);
   delay_nms(10);
  goto NextRun;
  }

goto Start;
NextRun:
ControlCar(8);
  }
}

ID:123289 · 發表于 2018-12-24 11:22

如何理解你的“跳出主函數”？

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關于單片機循跡小車的一些小問題,需要在循跡1分半鐘后跳出主函數實現直行5秒