就是自己暑假自學單片機，做了一個壁障小車用了兩個紅外壁障模塊和一個超聲波模塊做的一個壁障小車，可是小車的壁障卻很不理想，不知道哪里出問題所以感覺可能程序有問題，請大佬幫忙看看。
#include"reg51.h"
#include"xiaoche.h"
#include"intrins.h"
typedef unsigned char u8;
typedef unsigned int u16;
char push_val_left=5;
char push_val_right=5;
u8 pwm_val_right=0;
u8 pwm_val_left=0;
u8 pwm_count=0;
char time=0;
unsigned char S=0;//???????????
void delay(unsigned int xms)
{
unsigned int i,j;
for(i=xms;i>0;i--) //i=xms??????xms????
for(j=112;j>0;j--);
}
void Delay10us(unsigned int i) //10us??????? ????????????????
{
unsigned int j;
do
{
j = 10;
do
{
_nop_();
}
while(--j);
}
while(--i);
}
void startModle()
{
TX=1;
Delay10us(2);
TX=0;
}
void count()//?????????????
{
S=0;
time=TH1*256+TL1;
TH1=0;
TL1=0;
S=time*0.17+10;
}
void forward()
{
IN1=0;//????????
IN2=1;
IN3=1;
IN4=0;
}
void stop()//???
{
IN1=0;
IN2=0;
IN3=0;
IN4=0;
}
void back()
{
IN1=1;//????????
IN2=0;
IN3=0;
IN4=1;
}
void left()
{
IN1=1;
IN2=0;
IN3=1;
IN4=0;
}
void right()
{
IN1=0;
IN2=1;
IN3=0;
IN4=1;
}
/******************************************************************/
/* ???????? */
void pwm_out_right_moto(void)
{
if(Right_PWM_ON)
{
if(pwm_val_right<=push_val_right) //20ms??????? 111 111 0000 0000 0000 00
{
EN2=1; //????6:20
}
else
{
EN2=0;
}
if(pwm_val_right>=20)
pwm_val_right=0;
}
else
{
EN2=0; //??δ????PWM??EN2=0 ???? ??
}
}
/*????????*/
void pwm_out_left_moto(void)
{
if(Left_PWM_ON)
{
if(pwm_val_left<=push_val_left)
{
EN1=1;
}
else
{
EN1=0;
}
if(pwm_val_left>=20)
pwm_val_left=0;
}
else
{
EN1=0; //??δ????PWM??EN1=0 ???? ??
}
}
void Timer0() interrupt 1
{
TH0 = 0xff; //??????0.1ms
TL0 = 0xa3;
pwm_count++;
if(pwm_count>=10)
{
pwm_val_right++;
pwm_val_left++;
pwm_out_right_moto();
pwm_out_left_moto();
pwm_count=0;
}
}
void main()
{
TMOD|=0X11;
EA=1;
ET0=1;
ET1=0;
TR0=1;
TR1=1;
TH1=0;
TL1=0;
count();
while(1)
{
if((hongwai_left==0)&&(S<=300))
{
stop();
delay(50);
right();
delay(50);
}
if((hongwai_right==0)&&(S<=300))
{
stop();
delay(50);
left();
delay(50);
}
else
{
forward();
}
}
}
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