用51單片機做的尋跡小車程序無法正常工作

ID:1023357 · 發表于 2022-5-2 18:21

void Tracking(unsigned char*flag1,unsigned char*flag2)
{
      //為0 沒有識別到黑線為1識別到黑線
      char data1,data6,data2 = left_led1,data3 = right_led1,data4 = left_led11,data5 = right_led22;
      data1=data2*10+data3;
      data6=data4*10+data5;
      if(data1 == 0 && data6 == 11)
      {
            forward(200,200);

      }
      if(data1 == 0 && data6 ==0)
      {
         forward(200,200);
         if(*flag2!=0)
            *flag1+=1;
      }
if(data6 == 0||data6 == 11)
      {
               if(data1 == 10)
            {
                     left_run(90,125);
            }
            if(data1 == 1)
            {
                     right_run(120,90);
            }
      }
if(data6 == 10)
      {
         left_run(70,150);
      }
if(data6 == 1)
      {
         right_run(150,70);
      }
if(data1 == 11&&data6 == 11)
      {
            forward(200,200);
            *flag2+=1;
      }
      if(data1 == 10&&data6 == 10)
      left_run(90,125);
}

/*主函數*/
void main(void)
{ int u=1;
char flag1=0,flag2=0,flag3=0;
      char *a;
      char *b;
      char *c;
      a=&flag1;
      b=&flag2;
      c=&flag3;
      Timer0_Init();//定時0初始化
      while(u)
      {
            Tracking(a,b);
            if(flag1>0)
      {
         flag1=0;
            flag2=0;
            flag3+=1;
      }
         if(flag3==1)
      {