循迹小车程序 c51循迹小车程序.doc

循迹小车程序 c51循迹小车程序 #include sbit speaker=P3; sbit A1=P1;//定义IO口// sbit A2=P1
; sbit B1=P1; sbit B2=P1; sbit ENA=P1; sbit ENB=P1; sb… 上海银行信用卡领用合约 上海银行股份有限公司（以下简称“甲方”）与上海银行信用卡主卡及附属卡申领人（以下简称“乙方”），就乙方自愿申领上海银行信用卡（以下简称“信用卡”）的有关事宜签订如下合约： 第一条 申领 （一）乙方承诺完全遵守《上海银行信用卡章… 《动物与能量》说课稿 尊敬的各位领导，各位评委老师： 今天我说课的内容是《动物与能量》。下面我将从以下几方面进行说课。 一、说教材 《动物与能量》是冀教版小学科学六年级上册第二单元第三课时的内容。这一课是在学生学习了《生活中的能量》和《植物与能量》的… #include sbit speaker=P3; sbit A1=P1;//定义IO口// sbit A2=P1
; sbit B1=P1; sbit B2=P1; sbit ENA=P1; sbit ENB=P1; sbit YKEN=P1 ; sbit LED=P0
; sbit BELL=P0; sbit X1=P2; sbit X2=P2
; sbit X5=P2; sbit X3=P2; sbit X4=P2; void forward() { A1=1; A2=0; B1=1; B2=0; LED=1; BELL=1; YKEN=1; } void turn_right() { A1=1; A2=1; B1=1; B2=0; LED=1; BELL=1; YKEN=1; } void turn_left() { A1=1; A2=0; B1=1; B2=1; LED=1; BELL=1; YKEN=1; } void YKMOD() { A1=1; A2=1; B1=1; B2=1; LED=0; BELL=0; YKEN=0; } unsigned char timer0h,timer0l,time; //歌谱数据表 code unsigned char sszymmh[]={ 1,2,12, 2,2,4,3,2,8,1,2,8, 6,1,8,1,2,8,5,1,16, 5,2,12,6,2,4,5,2,8,3,2,8, 3,2,8,2,2,4,1,2,4,2,2,16, 1,2,12,2,2,4,3,2,8,1,2,8, 6,1,8,1,2,8,5,1,16, 5,2,12,4,2,4,3,2,8,2,2,8, 1,2,32, 3,2,12,4,2,4,5,2,16, 6,2,12,3,2,4,5,2,16, 1,3,12,7,2,4,6,2,8,5,2,8, 6,2,4,5,2,4,3,2,8,2,2,16, 3,2,12,2,2,4,1,2,16, 7,1,12,6,1,4,5,1,16, 6,1,8,5,1,6,6,1,3,1,2,8,2,2,8, 1,2,32 }; // 音阶频率表 高八位 code unsigned char FREQH[]={ 0xF2,0xF3,0xF5,0xF5,0xF6,0xF7,0xF8, 0xF9,0xF9,0xFA,0xFA,0xFB,0xFB,0xFC,0xFC, //1,2,3,4,5,6,7,i 0xFC,0xFD,0xFD,0xFD,0xFD,0xFE, 0xFE,0xFE,0xFE,0xFE,0xFE,0xFE,0xFF, } ; // 音阶频率表 低八位 code unsigned char FREQL[]={ 0x42,0xC1,0x17,0xB6,0xD0,0xD1,0xB6, 0x21,0xE1,0x8C,0xD8,0x68,0xE9,0x5B,0x8F, //1,2,3,4,5,6,7,i 0xEE,0x44, 0x6B,0xB4,0xF4,0x2D, 0x47,0x77,0xA2,0xB6,0xDA,0xFA,0x16, }; void delay(unsigned char t) { unsigned char t1; unsigned long t2; for(t1=0;t1{ for(t2=0;t2{ if(X1==1X4==1X2==1X3==1X5==0) forward(); if((X1==1X4==1X2==0X3==1X5==1)||(X1==1X4==1X2==0X3==1X5==0)) turn_left(); if((X4