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各位大神好
以下是51單片機(STC89C52)藍牙遙控+超聲波跟隨+紅外循跡主程序，現在經過測試功能均能實現，能否幫忙解釋下主程序里面超聲波+紅外切換那塊還有問題么？其他子程序是否還有問題，有沒有什么優化代碼的可能，感謝解惑！！！（完整程序放置在附件）
#include <REGX52.H>
#include <INTRINS.H>
#include <Timer2.H>
#include <Timer0.H>
#include "UART.H"
#include "Delay.H"
#include "MotorDrive.H"
#include "HC_SR04.H"
#include <IR_Tracking.H>
bit gb_ultrasonic=0;
bit gb_IR=0;
bit gbRI=0;
sbit L298N_ENA=P1^4;
sbit L298N_ENB=P1^5;
sbit L298N_ENA1=P1^1;
sbit L298N_ENB1=P0^2;
unsigned char Compare,Compare1,Compare2,Compare3;
unsigned char Counter,Counter1,Counter2,Counter3;
unsigned char Data;
void main()
{
UART_Init(); //串口初始化
Timer0_Init(); //T0初始化
Timer2_Init(); //T2初始化
Compare=Compare1=Compare2=Compare3=20;
while(1)
{
if(gb_IR)
IR_Tracking();//紅外循跡
if(gb_ultrasonic)
Ultrasound_Dis();//超聲波跟隨
if(gbRI)//有新的串口數據 在串口接收中斷中加入gbRI=1;
{
gbRI=0;//新的串口數據已處理
gb_IR=0;//除循跡指令外，其它指令不循跡
gb_ultrasonic=0;//除超聲波跟隨指令外，其它指令不跟隨
if(Data == 8)
gb_ultrasonic=1;//收到超聲波跟隨指令
if(Data == 7)
gb_IR=1;//收到循跡指令
else if(Data == 0)
StopIt();
else if(Data == 1)
{
Compare=Compare1=Compare2=Compare3=100;
Forward();
}
else if(Data == 2)
{
Compare=Compare1=Compare2=Compare3=100;
BackOff();
}
else if(Data==3)
{
Compare=Compare1=Compare2=Compare3=40;
TurnLeft();
}
else if(Data==4)
{
Compare=Compare1=Compare2=Compare3=40;
TurnRight();
}
else if(Data==5)
{
Compare=Compare1=Compare2=Compare3=30;
TurnLeftCircle();
}
else if(Data==6)
{
Compare=Compare1=Compare2=Compare3=30;
TurnRightCircle();
}
}
}
}
void Timer0_Routine() interrupt 1
{
TL0=0xA4; //設置定時初值
TH0=0xFF; //設置定時初值
Counter++;
Counter%=100; //計數值變化范圍限制在0~99
Counter1++;
Counter1%=100; //計數值變化范圍限制在0~99
Counter2++;
Counter2%=100; //計數值變化范圍限制在0~99
Counter3++;
Counter3%=100; //計數值變化范圍限制在0~99
if(Counter<Compare)
{
L298N_ENA=1;
}
else
{
L298N_ENA=0;
}
if(Counter1<Compare1)
{
L298N_ENB=1;
}
else
{
L298N_ENB=0;
}
if(Counter2<Compare2)
{
L298N_ENA1=1;
}
else
{
L298N_ENA1=0;
}
if(Counter3<Compare3)
{
L298N_ENB1=1;
}
else
{
L298N_ENB1=0;
}
}
void UART_Routine() interrupt 4 //串口中斷
{
gbRI=1;
if(RI==1) //允許單片機接收數據
{
Data=SBUF; //讀取數據
UART_SendByte(SBUF); //將接收到的數據發回串口
RI=0; //接收標志位清0 軟件復位
}
}
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