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#include<reg52.h>
typedef unsigned char u8;
typedef unsigned int u16;
//占空比標(biāo)志
u8 ZKB_QZ,ZKB_QY,ZKB_HZ,ZKB_HY,Q_Z,Q_Y,H_Z,H_Y;
//電機控制端口 P1
sbit IN1=P1^0; //前左反轉(zhuǎn)
sbit IN2=P1^1; //前左正轉(zhuǎn)
sbit IN3=P1^2; //前右正轉(zhuǎn)
sbit IN4=P1^3; //前右反轉(zhuǎn)
sbit IN11=P1^4; //后右反轉(zhuǎn)
sbit IN22=P1^5; //后右正轉(zhuǎn)
sbit IN33=P1^6; //后左正轉(zhuǎn)
sbit IN44=P1^7; //后左反轉(zhuǎn)
//紅外傳感器 P3
sbit hw_left=P3^7;
sbit hw_mid=P3^6;
sbit hw_right=P3^5;
//PWM調(diào)速端口 P0
sbit PWM_QZ=P0^1; //前左
sbit PWM_QY=P0^2; //前右
sbit PWM_HZ=P0^3; //后左
sbit PWM_HY=P0^4; //后右
//延時函數(shù)
void delay(u16 num)
{
u16 x,y;
for(x=num;x>0;x--)
for(y=110;y>0;y--)
{
;
}
}
//定時器初始化函數(shù)
void Z_D()
{
TMOD=0x01;
TH0=(65536-100)/256;
TL0=(65536-100)%256 ;
EA=1;
ET0=1;
TR0=1;
PWM_QZ=1;
PWM_QY=1;
PWM_HZ=1;
PWM_HY=1;
}
//中斷服務(wù)函數(shù)
void time_service(void) interrupt 1
{
Q_Z++,Q_Y++,H_Z++,H_Y++; //進入中斷自加
//前右
if(Q_Y<ZKB_QY) //如果小于設(shè)定值，使能端置1，否則置0
{
PWM_QY=1;
}
else {PWM_QY=0;}
if(Q_Y==40) //如果i加到40；使能端取反，i置0
{
PWM_QY=~PWM_QY;
Q_Y=0;
}
//前左
if(Q_Z<ZKB_QZ) //如果小于設(shè)定值，使能端置1，否則置0
{
PWM_QZ=1;
}
else {PWM_QZ=0;}
if(Q_Z==40) //如果i加到40；使能端取反，i置0
{
PWM_QZ=~PWM_QZ;
Q_Z=0;
}
//后右
if(H_Y<ZKB_HY) //如果小于設(shè)定值，使能端置1，否則置0
{
PWM_HY=1;
}
else {PWM_HY=0;}
if(H_Y==40) //如果i加到40；使能端取反，i置0
{
PWM_HY=~PWM_HY;
H_Y=0;
}
//后左
if(H_Z<ZKB_HZ) //如果小于設(shè)定值，使能端置1，否則置0
{
PWM_HZ=1;
}
else {PWM_HZ=0;}
if(H_Z==40) //如果i加到40；使能端取反，i置0
{
PWM_HZ=~PWM_HZ;
H_Z=0;
}
//定時器0重裝初值
TH0=(65536-100)/256;
TL0=(65536-100)%256;
}
//前進
void go()
{
ZKB_QZ=13;
ZKB_QY=8;
ZKB_HZ=15;
ZKB_HY=8;
IN2=1; //前左正轉(zhuǎn)
IN3=1; //前右正轉(zhuǎn)
IN22=0; //后右正轉(zhuǎn)
IN33=0; //后左正轉(zhuǎn)
IN1=0; //前左反轉(zhuǎn)
IN4=0; //前右反轉(zhuǎn)
IN11=1; //后右反轉(zhuǎn)
IN44=1; //后左反轉(zhuǎn)
}
//后退
void back()
{
ZKB_QZ=6;
ZKB_QY=6;
ZKB_HZ=6;
ZKB_HY=6;
IN2=0; //前左正轉(zhuǎn)
IN3=0; //前右正轉(zhuǎn)
IN22=1; //后右正轉(zhuǎn)
IN33=1; //后左正轉(zhuǎn)
IN1=1; //前左反轉(zhuǎn)
IN4=1; //前右反轉(zhuǎn)
IN11=0; //后右反轉(zhuǎn)
IN44=0; //后左反轉(zhuǎn)
}
//右轉(zhuǎn)
void right()
{
do
{
ZKB_QZ=15;
ZKB_QY=35;
ZKB_HZ=15;
ZKB_HY=35;
IN2=0; //前左反轉(zhuǎn)
IN3=1; //前右反轉(zhuǎn)
IN22=0; //后右反轉(zhuǎn)
IN33=1; //后左反轉(zhuǎn)
IN1=1; //前左正轉(zhuǎn)
IN4=0; //前右正轉(zhuǎn)
IN11=1; //后右正轉(zhuǎn)
IN44=0; //后左正轉(zhuǎn)
}
while(hw_mid==1);
}
//左轉(zhuǎn)
void left()
{
do
{
ZKB_QZ=15;
ZKB_QY=35;
ZKB_HZ=15;
ZKB_HY=35;
IN2=1; //前左反轉(zhuǎn)
IN3=0; //前右反轉(zhuǎn)
IN22=1; //后右反轉(zhuǎn)
IN33=0; //后左反轉(zhuǎn)
IN1=0; //前左正轉(zhuǎn)
IN4=1; //前右正轉(zhuǎn)
IN11=0; //后右正轉(zhuǎn)
IN44=1; //后左正轉(zhuǎn)
}
while(hw_mid==1);
}
void stop() //停止函數(shù)
{
IN2=0; //前左正轉(zhuǎn)
IN3=0; //前右正轉(zhuǎn)
IN22=0; //后右正轉(zhuǎn)
IN33=0; //后左正轉(zhuǎn)
IN1=0; //前左反轉(zhuǎn)
IN4=0; //前右反轉(zhuǎn)
IN11=0; //后右反轉(zhuǎn)
IN44=0; //后左反轉(zhuǎn)
}
void go_rignt()
{
ZKB_QZ=5;
ZKB_QY=5;
ZKB_HZ=5;
ZKB_HY=5;
IN2=1; //前左反轉(zhuǎn)
IN3=0; //前右反轉(zhuǎn)
IN22=1; //后右反轉(zhuǎn)
IN33=0; //后左反轉(zhuǎn)
IN1=0; //前左正轉(zhuǎn)
IN4=1; //前右正轉(zhuǎn)
IN11=0; //后右正轉(zhuǎn)
IN44=1; //后左正轉(zhuǎn)
}
void go_left()
{
ZKB_QZ=5;
ZKB_QY=5;
ZKB_HZ=5;
ZKB_HY=5;
IN2=0; //前左反轉(zhuǎn)
IN3=1; //前右反轉(zhuǎn)
IN22=0; //后右反轉(zhuǎn)
IN33=1; //后左反轉(zhuǎn)
IN1=1; //前左正轉(zhuǎn)
IN4=0; //前右正轉(zhuǎn)
IN11=1; //后右正轉(zhuǎn)
IN44=0; //后左正轉(zhuǎn)
}
void huigui()
{
u8 num;
for(num=2;num>0;num--)
{
if(hw_left==0 & hw_mid==1 & hw_right==1)
{
go_rignt();
}
if(hw_left==1 & hw_mid==1 & hw_right==0)
{
go_left();
}
}
}
void X_J() //循跡函數(shù)
{
u8 P_D; //定義判斷
//未檢測到黑線
if(hw_left==1 & hw_mid==1 & hw_right==1)
{
P_D=0;
}
//中間檢測到黑線
if(hw_left==1 & hw_mid==0 & hw_right==1)
{
P_D=1;
}
//左面檢測到黑線
if(hw_left==0 & hw_mid==1 & hw_right==1)
{
P_D=2;
}
//右面檢測到黑線
if(hw_left==1 & hw_mid==1 & hw_right==0)
{
P_D=3;
}
//全部都檢測到黑線后退
if(hw_left==0 & hw_mid==0 & hw_right==0)
{
P_D=4;
}
//中間和左面檢測到黑線
if(hw_left==0 & hw_mid==0 & hw_right==1)
{
P_D=5;
}
//中間和右面檢測到黑線
if(hw_left==1 & hw_mid==0 & hw_right==0)
{
P_D=6;
}
switch (P_D)
{
case 0: huigui();break; //情況0，停止
case 1: go(); break; //情況1，前進
case 2: left(); break; //情況2，左轉(zhuǎn)
case 3: right(); break; //情況3，右轉(zhuǎn)
case 4: back(); break; //情況4，后退
case 5: left(); break; //情況5，左轉(zhuǎn)
case 6: right(); break; //情況6，右轉(zhuǎn)
}
}
//主函數(shù)
void main()
{
Z_D();
delay(5);
while(1)
{
X_J();
}
}

復(fù)制代碼

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