寻迹遥控小车程序.docVIP

/*************刘星星，电子设计大赛前夕******************/ #includereg52.h sbit a1=P1^0; sbit a2=P1^1; sbit ea=P1^2; sbit b1=P1^5; sbit b2=P1^6; sbit eb=P1^7; sbit led_left=P1^3; sbit led_right=P1^4; sbit sense_left=P0^0; sbit sense_right=P0^1; sbit IRIN = P3^3; //红外接收器数据线 unsigned int xuan=0; void go_ahead() { led_left=1; led_right=1; a1=1; a2=0; ea=1; b1=1; b2=0; eb=1; } void go_afterward() { led_left=1; led_right=1; a1=0; a2=1; ea=1; b1=0; b2=1; eb=1; } void stop() { led_left=1; led_right=1; a1=1; a2=1; ea=1; b1=1; b2=1; eb=1; } void turn_right() { led_left=1; led_right=0; a1=1; a2=1; ea=1; b1=1; b2=0; eb=1; } void turn_left() { led_left=0; led_right=1; a1=1; a2=0; ea=1; b1=1; b2=1; eb=1; } /**********************************************************/ void delay(unsigned char x) //x*0.14MS { unsigned char i; while(x--) { for (i = 0; i13; i++) {} } } /**********************************************************/ void main() { IE = 0x84; //允许总中断中断,使能 INT1 外部中断 TCON = 0x10; //触发方式为脉冲负边沿触发 IRIN=1; while(1) { if(xuan==1) { if(sense_left==0sense_right==1) turn_left(); else if(sense_left==1sense_right==0) turn_right(); else if(sense_left==0sense_right==0) go_ahead(); else go_ahead(); } } } /**********************************************************/ void IR_IN() interrupt 2 using 0 { unsigned char j,k,N=0; unsigned char IRCOM[4]; EX1 = 0; delay(15); if (IRIN==1) //确认IR信号出现 { EX1 =1; return; } while (!IRIN) //等IR变为高电平，跳过9ms的前导低电平信号。 delay(1); for (j=0;j4;j++) //收集四组数据 { for (k=0;k8;k++) //每组数据有8位 { while (IRIN) //等 IR 变为低电平，跳过4.5ms的前导高电平信号。 delay(1); while (!IRIN) //等 IR 变为高电平 delay(1); while (IRIN) //计算IR高电平时长 { delay(1); N++; if (N=30) { EX1=1; return; }