#include<reg52.h>
#define uchar unsigned char
#define uint unsigned int
uchar temp,signal,tt1,t0,t1,t2,t3,t4,t5,t6;
void delay_1ms(uint d)
{
uint i;
while(d--)
for(i=0;i<75;i++);
}
void motor_run() //电机起动
{
P1=0x35;
delay_1ms(200);
P1=0x53;
delay_1ms(10);
/* ENA=1;
OUT1=0;
OUT2=1;
delay_1ms(800);
OUT2=0;
delay_1ms(200);
ENB=1;
OUT4=0;
OUT3=1;
delay_1ms(800);
OUT3=0;
delay_1ms(200);
*/
}
void motor_left() //左进
{
P1=0x30;
delay_1ms(200);
P1=0x00;
delay_1ms(20);
}
void motor_right() //右进
{
P1=0x05;
delay_1ms(200);
P1=0x00;
delay_1ms(20);
}
void motor_big_right() //粗右进
{
P1=0x55;
delay_1ms(200);
P1=0x00;
delay_1ms(20);
}
void motor_big_left()
{
P1=0x33;
delay_1ms(200);
P1=0x00;
delay_1ms(20);
}
void motor_stop() //电机停止
{
P1=0x00;
}
void motor_back()
{
P1=0x53;
}
void main()
{
t0=0;
t1=0;
t2=0;
t3=0;
t4=0;
t5=0;
t6=0;
tt1=0;
EA=1;
ET1=1;
TR1=1;
TMOD=0x01;
TH1=-(1000/256);
TL1=-(1000%256);
while(1)
{
temp=P2;
signal=temp&0xff; //得到红外反向信号
switch(signal)
{
case 0xff: //无偏差
motor_run();
t0++;
if(t0==10)
{
t0=0;
motor_left();
motor_right();
}
t1=t2=t3=t4=t5=t6=0;
break;
case 0xfd: //1轮右偏
motor_big_left();
t1++;
if(t1==4)
{
t1=0;
motor_left();
}
t0=t2=t3=t4=t5=t6=0;
break;
case 0xef: //4轮左偏
motor_big_right();
t2++;
if(t2==4)
{
t2=0;
motor_right();
}
t0=t1=t3=t4=t5=t6=0;
break;
case 0xfb: //2轮右偏出轨
case 0xf9: //1、2轮右偏
motor_big_left();
t3++;
if(t3==4)
{
t3=0;
motor_left();
}
t0=t1=t2=t4=t5=t6=0;
// delay_1ms(10);
break;
case 0xdf: //5左偏出轨
case 0xcf: //4、5轮左偏
motor_big_right();
t4++;
if(t4==4)
{
t4=0;
motor_right();
}
t0=t1=t2=t3=t5=t6=0;
// delay_1ms(10);
break;
case 0xfe: //0最右偏出轨
case 0xfa:
motor_big_left();
t5++;
if(t5==1)
{
t5=0;
motor_left();
motor_left();
}
t0=t1=t2=t3=t4=t6=0;
// delay_1ms(10);
break;
case 0xbf: //6最左偏出轨
case 0x9f:
motor_big_right();
t6++;
if(t6==1)
{
t6=0;
motor_right();
motor_right();
}
t0=t1=t2=t3=t4=t5=0;
// delay_1ms(10);
break;
case 0xeb: //前两传感器压在黑线上
case 0xdb: //后两传感器压在黑线上
case 0xbe: //中间两传感器压在黑线上
case 0xac: //前四传感器压在黑线上
case 0x9a: //后四传感器压在黑线上
motor_back();
delay_1ms(200);
motor_stop();
// delay_1ms(1000);
default:
// motor_back();
// delay_1ms(50);
// motor_left();
// motor_right();
break;
}
}
}
/*void time1() interrupt 3
{
TH1=-(1000/256);
TL1=-(1000%256);
tt1++;
if(tt1==300)
{
motor_back();
// delay_1ms(1);
tt1=0;
}
} */
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