飞思卡尔智能车循迹小车详细程序

{
//if(OUT2==0 && OUT3==0 && OUT4==1 && OUT5==0 && OUT6==0 && OUT7==0)//qian==0
m=50;
//else
//m=20;
/*if(OUT2==0 && OUT3==1 && OUT4==0 && OUT5==0 && OUT6==0 && OUT7==0)//qian==0
{
pwm=15;
}
}
void zhuan5()
{
if( OUT2==0 && OUT1==0 && OUT3==0 && OUT4==0 && OUT5==1 && OUT6==0 && OUT7==0/**/)
{
pwm=14;
}
}
void zhuan6()
{if(OUT1==0 && OUT2==0 && OUT3==0 && OUT4==0 && OUT5==0&& OUT6==1 && OUT7==0/**/)
{
uint i,j;
for(i=xms;i>0;i--)
for(j=110;j>0;j--);
}
void Init()
{
OUT1=1;
OUT2=1;
OUT3=1;
OUT4=1;
OUT5=1;
OUT6=1;
OUT7=1;
TMOD=0x11;
TH0=(65536-100)/256;
TL0=(65536-100)%256;
t=0;
}
void T1_time() interrupt 3
{
TH1=(65536-100)/256;
TL1=(65536-100)%256;
//EA=0;
tim=tim+1;
if(tim>m)// 10
ENA=1;
else
ENA=0;
/*if(tim<zkb2)// 190
pwm2=0;
else pwm2=1;
{
pwm=13;
}
}
void zhuan7()
{
if(OUT1==0 && OUT2==0 && OUT3==0 && OUT4==0 && OUT5==0&& OUT6==0 && OUT7==1/**/)
{
pwm=12;
}
}
void zhengzhuan()
{
IN1=1;
IN2=0;
}
void jiansu()
{
pwm=18;
}
}
void zhuan2()
{
if(OUT1==0 &&OUT5==0 && /**/OUT4==0 && OUT2==1 && OUT3==0 && OUT6==0 && OUT3==0)
{
pwm=17;
}
}
void zhuan3()
{if(OUT1==0 && OUT2==0 && OUT3==1 && OUT4==0 && OUT5==0&& OUT6==0 && OUT7==0/**/)
m=75;
if(OUT2==0 && OUT3==0 && OUT4==0 && OUT5==1 && OUT6==0 && OUT7==0)//qian==0
m=75;
if(OUT2==1 && OUT3==0 && OUT4==0 && OUT5==0 && OUT6==0 && OUT7==0)//qian==0
{
pwm=16;
}
}
void zhuan4()
{
if( /*OUT1==1 && OUT2==0 && OUT3==0 && OUT4==0 && OUT5==0)||*/ ( OUT1==0 && OUT2==0 && OUT3==0 && OUT4==1 && OUT5==0 && OUT6==0 && OUT7==0
sbit OUT3=P1^3;
sbit OUT4=P1^4;
sbit OUT5=P1^5;
sbit OUT6=P1^6;
sbit OUT7=P1^7;
sbit qian=P2^0;
uchar t=0;
uchar zk=0;
uint pwm=0;
uchar tim=0;
uchar m=180;
void delayms(uint xms)
)||(OUT1==1 && OUT2==1 && OUT3==1&&OUT4==1 && OUT5==0&& OUT6==0 && OUT7==0)||(
OUT1==0 && OUT2==0 &&OUT3==1 && OUT4==1 && OUT5==1&& OUT6==1 && OUT7==1))
TH1=(65536-100)/256;
TL1=(65536-100)%256;
EA=1;
TR0=1;
ET0=1;
TR1=1;
ET1=1;
}
void zhuan1()
{
if(OUT1==1 && OUT2==0 && OUT3==0 && OUT4==0 &&/**/ OUT5==0 && OUT6==0 && OUT7==0)
#include<reg52.h>
#define uint unsigned int
#define uchar unsigned char
sbit ENA=P0^5;
sbit IN1=^0;
sbit IN2=P0^4;
sbit duoji=P1^0;
sbit OUT1=P1^1;
sbit OUT2=P1^2;
{
//IN1=0;
m=100; //IN2=0;
}
} */
void main()
{
delayms(2000);
Init();
while(1)
{
zhengzhuan();
//tingzhuan();
jiansu();
//jiasu();
zhuan1();
zhuan2();
zhuan3();
zhuan4();
if(tim<m)
ENA=0;
else */
if(tim==250)
tim=0;
//EA=1;
}
zhuan5();
zhuan6();
zhuan7();
}
}
void T0_time() interrupt 1
{
TH0=(65536-100)/256;
TL0=(65536-100)%256;
if(t==0)zk=pwm;
if(t<=zk)
duoji=1;
else
duoji=0;
t++;
if(t==20)
m=85;
if(OUT2==0 && OUT3==0 && OUT4==0 && OUT5==0 && OUT6==1 &&OUT7==0)//qian==0
m=85;*/}
/* void jiasu()
{
if(qian==1)
m=30;
}
void tingzhuan()
{
if(OUT1==0 && OUT2==0 && OUT3==0 && OUT4==0 && OUT5==0&& OUT6==0 && OUT7==0)