智能小车_走黑线_避障_物体跟随_红外遥控_C程序.docx

#includereg52.h#includeintrins.h/*接线定义*/sbit IN1=P1^5; sbit IN2=P1^6;sbit IN3=P1^1;sbit IN4=P1^0;sbit EN1=P1^3;sbit EN2=P1^4;/*传感器接线定义*/sbit Left_InSen=P2^4;sbit Right_InSen=P2^0;sbit bleft=P2^3;sbit bright=P2^1;sbit BUZZ=P1^7;/*遥控器接线定义*/sbit b=P0^7; //对应D0 Bsbit d=P0^6; //对应D1 Dsbit a=P0^5; //对应D2 Asbit c=P0^4; //对应D3 C/*按键功能定义*/sbit k2=P3^0;//走黑线sbit k3=P3^1;//避障sbit k4=P3^2;//物体跟随sbit k5=P3^3;//遥控器/*标志位定义*/bit flag_heixian=0;bit flag_bizhang=0;bit flag_gensui=0;bit flag_yaokong=0;void delay(unsigned int n){unsigned char i, j,k;for(k=0;k=n;k++){_nop_();_nop_();i = 5;j = 6 ;do{while (--j);} while (--i);}}void beep(void){unsigned char i;for(i=0;i3;i++){BUZZ=~BUZZ;delay(10);}BUZZ=1;}void gogogo(void){ IN1=1; IN2=0; IN3=1; IN4=0;}void backbackback(void){ IN1=0; IN2=1; IN3=0; IN4=1;}void stop(void){ IN1=0; IN2=0; IN3=0; IN4=0; }void turnleft(void){ IN1=0; IN2=1; IN3=1; IN4=0;}void turnright(void){ IN1=1; IN2=0; IN3=0; IN4=1;}void keyscan(){ /*走黑线按键设置*/if(k2==0){while(!k2); flag_heixian=1;flag_bizhang=0;flag_gensui=0;flag_yaokong=0;}/*避障按键设置*/ if(k3==0){ while(!k3);flag_heixian=0;flag_bizhang=1;flag_gensui=0;flag_yaokong=0;}/*物体跟随按键设置*/ if(k4==0){ while(!k4);flag_heixian=0;flag_bizhang=0;flag_gensui=1;flag_yaokong=0;}/*遥控器按键设置*/ if(k5==0){ while(!k5);flag_heixian=0;flag_bizhang=0;flag_gensui=0;flag_yaokong=1;}}void main(void){flag_heixian=0;flag_bizhang=0;flag_gensui=0;flag_yaokong=0; while(1) {keyscan();//按键扫描 /*走黑线程序设计*/if(flag_heixian){delay(1);if(Left_InSen==1Right_InSen==0) { turnright(); delay(10-4); stop(); delay(4); } else if(Left_InSen==0Right_InSen==1) { turnleft(); delay(10-4); stop(); delay(4); } else { gogogo(); delay(10-7); stop(); delay(7); } }/*避障程序设计*/if(flag_bizhang) {delay(1); if(bleft==0bright==0) //1(灭)没有检测到有障碍物 0（亮）检测到没有障碍物 { gogogo(); delay(4); stop(); delay(6); } if(bleft==1bright==1) {BUZZ=0;backbackback(); delay(4); stop();BUZZ=1; delay(6); } if(bleft==1bright==0) { turnright(); delay(2); stop(); delay(8); } if(bleft==0bright==1) { turn