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#include <AT89X52.H> #include <STRING.H> #include <REG52.H>
#define FLeftMotor P1_0 = 1 ; P1_1 = 0
#define BLeftMotor P1_0 = 0 ; P1_1 = 1 #define FRightMotor P1_2 = 1 ; P1_3 = 0
#define BRightMotor P1_2 = 0 ; P1_3 = 1 #define LeftStop P1_0 = 1 ; P1_1 = 1
#define RightStop P1_2 = 1 ; P1_3 = 1 #define CarStop P1_0 = 1; P1_1 = 1 ; P1_2 = 1 ; P1_3 = 1 Senser=P3^2//延時// Void delay1(unsigned int i) { While(--i) } //******************************************************** // 左轉 //******************************************************** void TurnLeft_1()
{
LeftStop ;
FRightMotor ; } //******************************************************** // 壁障程序
//********************************************************
void Obstacle_Avoid(void)
{ if(!Senser)
{
Fleftmotor; Frightmotor;
} if((RightSenser) {
Turnright(); delay1(300); Fleftmotor;Frightmotor; Delay1(300);
Turnleft();
delay1(300); Fleftmotor;Frightmotor; } //右轉// void Turnright() { Rightstop; Fleftmotor; } void Turnleft() { Leftstop; Frightmotor; }
中斷方式： #include <AT89X52.H> #include <REG52.H> # include <string.h> #define qianjin P1=0x0A; //前進// #define zuozhuan P1=0x02; //左轉// #define youzhuan P1=0x08; //右轉// #define houtui P1=0x05; //后退// #define shatin P1=0x0f; //剎停// IE=0x05; SETB EXO;SETB EX1; Void bizhang (void) interrupt 0; Void delay (unsigned char i); Void main (void) { while(1){ qianjin; } } Void bizhang ( ) interrupt 0 //壁障函數// { EA=0; zuozhuan; delay(500); shatin; if(!(EX0||EX1)) { zuozhuan; delay(500); shatin; } qianjin; delay(30000); zuozhuan; delay(500); EA=1; } Void delay (unsigned char i) //延時函數// { while(--i); }
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