智能循迹小车程序.docx

1、智能循迹小车程序智能循迹小车，小车按中字笔画行驶/*“中”字笔画轨迹*/#include#include /内部包含延时函数 _nop_();#define uchar unsigned char#define uint unsigned int unsigned char dj1=0;unsigned char dj2=0;uchar t=0;uchar num1=0,num2=0,num3=0;sbit HW1=P00; /红外对管位定义sbit HW2=P01; sbit HW3=P02;sbit HW4=P03;sbit ENA=P32; /PWM输入sbit ENB=P33;sbit

2、 IN5=P24; /电机sbit IN6=P25;sbit IN7=P26;sbit IN8=P27;void delay(uint x) /延时1ms uint i,j; for(i=0;ix;i+) for(j=0;j120;j+);void qianjin() /小车前进 IN5=0; IN6=1; IN7=0; IN8=1; dj1=15; dj2=15;void turnleft2() /小车前进向左微调 IN5=0; IN6=1; IN7=0; IN8=1; dj1=7; dj2=20;void turnright2() /小车前进向右微调 IN5=0; IN6=1; IN7=0

3、; IN8=1; dj1=20; dj2=7;void right() IN5=0; IN6=1; IN7=1; IN8=0; dj1=20; dj2=25;void left() IN5=1; IN6=0; IN7=0; IN8=1; dj1=25; dj2=20;void stop() /小车后退 dj1=0; dj2=0;void init() /初始化 TMOD=0x01; TH0=(65536-500)/256; TL0=(65536-500)%256; EA=1; ET0=1; TR0=1;void timer0() interrupt 1 using 1 /定时器0中断 TH0=

4、(65536-500)/256; TL0=(65536-500)%256; t+; if(tdj1) ENA=1; else ENA=0; if(t=50) t=0; void main() init(); while(1) if(num1=0) if(HW1=0&HW2=1&HW3=1&HW4=0) qianjin(); if(HW1=0&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=0&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=0

5、&HW3=1&HW4=0) turnright2(); if(HW1=0&HW2=0&HW3=1&HW4=1) turnright2(); if(HW1=0&HW2=0&HW3=0&HW4=1) turnright2(); if(HW1=0&HW2=1&HW3=1&HW4=1) turnleft2(); if(HW1=1&HW2=1&HW3=1&HW4=0) turnright2(); if(num2=0&HW1=0&HW2=0&HW3=0&HW4=0) delay(500); if(num2=0&HW1=0&HW2=0&HW3=0&HW4=0) stop(); delay(50); num1

6、=1; delay(50); if(num1=1) if(num2=0&HW1=0&HW2=0&HW3=0&HW4=0) right(); if(HW1=0&HW2=1&HW3=1&HW4=0) num2=1; delay(50); qianjin(); if(HW1=0&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=0&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=0&HW3=1&HW4=0) turnright2(); if(HW1=

7、0&HW2=0&HW3=1&HW4=1) turnright2(); if(HW1=0&HW2=0&HW3=0&HW4=1) turnright2(); if(HW1=0&HW2=1&HW3=1&HW4=1) turnleft2(); if(HW1=1&HW2=1&HW3=1&HW4=0) turnright2(); if(num2=1&HW1=0&HW2=0&HW3=0&HW4=0) delay(500); if(num2=1&HW1=0&HW2=0&HW3=0&HW4=0) stop(); delay(50); num1=2; delay(50); if(num1=2) if(num2=1

8、&HW1=0&HW2=0&HW3=0&HW4=0) right(); if(HW1=0&HW2=1&HW3=1&HW4=0) num2=2; delay(50); qianjin(); if(HW1=1&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=0&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=0&HW3=1&HW4=1) turnright2(); if(HW1=0&HW2=0&HW3=1&HW4=0) turnright2();

9、if(HW1=0&HW2=0&HW3=0&HW4=1) turnright2(); if(num3=0&HW1=1&HW2=1&HW3=1&HW4=1) num3=1; delay(10); stop(); delay(100); qianjin(); if(HW1=0&HW2=1&HW3=1&HW4=1) turnleft2(); if(HW1=1&HW2=1&HW3=1&HW4=0) turnright2(); if(num2=2&HW1=0&HW2=0&HW3=0&HW4=0) delay(500); if(num2=2&HW1=0&HW2=0&HW3=0&HW4=0) stop();

10、delay(50); num1=3; delay(50); if(num1=3) if(num2=2&HW1=0&HW2=0&HW3=0&HW4=0) right(); if(HW1=0&HW2=1&HW3=1&HW4=0) num2=3; delay(50); qianjin(); if(HW1=1&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=0&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=0&HW3=1&HW4=1) turnri

11、ght2(); if(HW1=0&HW2=0&HW3=1&HW4=0) turnright2(); if(HW1=0&HW2=0&HW3=0&HW4=1) turnright2(); if(HW1=0&HW2=1&HW3=1&HW4=1) turnleft2(); if(HW1=1&HW2=1&HW3=1&HW4=0) turnright2(); if(num2=3&HW1=0&HW2=0&HW3=0&HW4=0) delay(500); if(num2=3&HW1=0&HW2=0&HW3=0&HW4=0) stop(); delay(50); num1=4; delay(50); if(nu

12、m1=4) if(num2=3&HW1=0&HW2=0&HW3=0&HW4=0) right(); if(HW1=0&HW2=1&HW3=1&HW4=0) num2=4; delay(50); qianjin(); if(HW1=1&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=0&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=0&HW3=1&HW4=1) turnright2(); if(HW1=0&HW2=0&HW3=1&HW4=0)

13、 turnright2(); if(HW1=0&HW2=0&HW3=0&HW4=1) turnright2(); if(num3=1&HW1=1&HW2=1&HW3=1&HW4=1) num3=2; delay(10); stop(); delay(100); qianjin(); if(HW1=0&HW2=1&HW3=1&HW4=1) turnleft2(); if(HW1=1&HW2=1&HW3=1&HW4=0) turnright2(); if(num2=4&HW1=0&HW2=0&HW3=0&HW4=0) delay(500); if(num2=4&HW1=0&HW2=0&HW3=0&

14、HW4=0) stop(); delay(50); num1=5; delay(50); if(num1=5) if(num2=4&HW1=0&HW2=0&HW3=0&HW4=0) left(); if(HW1=0&HW2=1&HW3=1&HW4=0) num2=5; delay(50); qianjin(); if(HW1=1&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=0&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=0&HW3=1

15、&HW4=1) turnright2(); if(HW1=0&HW2=0&HW3=1&HW4=0) turnright2(); if(HW1=0&HW2=0&HW3=0&HW4=1) turnright2(); if(HW1=0&HW2=1&HW3=1&HW4=1) turnleft2(); if(HW1=1&HW2=1&HW3=1&HW4=0) turnright2(); if(num2=5&HW1=1&HW2=1&HW3=1&HW4=1) stop(); delay(100); num1=6; delay(50); if(num1=6) if(num2=5&HW1=1&HW2=1&HW3=

16、1&HW4=1) left(); if(HW1=0&HW2=1&HW3=1&HW4=0) num2=6; delay(50); num3=3; delay(50); qianjin(); if(HW1=1&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=0&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=0&HW3=1&HW4=1) turnright2(); if(HW1=0&HW2=0&HW3=1&HW4=0) turnright2();

17、 if(HW1=0&HW2=0&HW3=0&HW4=1) turnright2(); if(HW1=0&HW2=1&HW3=1&HW4=1) turnleft2(); if(HW1=1&HW2=1&HW3=1&HW4=0) turnright2(); if(num3=3&HW1=1&HW2=1&HW3=1&HW4=1) num3=4; delay(10); stop(); delay(100); qianjin(); if(num2=6&HW1=0&HW2=0&HW3=0&HW4=0) delay(500); if(num2=6&HW1=0&HW2=0&HW3=0&HW4=0) stop();

18、 delay(500); num1=7; delay(50); if(num1=7) if(num2=6&HW1=0&HW2=0&HW3=0&HW4=0) right(); if(HW1=0&HW2=1&HW3=1&HW4=0) num2=7; delay(50); num3=4; delay(50); qianjin(); if(HW1=1&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=1&HW3=0&HW4=0) turnleft2(); if(HW1=1&HW2=0&HW3=0&HW4=0) turnleft2(); if(HW1=0&HW2=

19、0&HW3=1&HW4=1) turnright2(); if(HW1=0&HW2=0&HW3=1&HW4=0) turnright2(); if(HW1=0&HW2=0&HW3=0&HW4=1) turnright2(); if(HW1=0&HW2=1&HW3=1&HW4=1) turnleft2(); if(HW1=1&HW2=1&HW3=1&HW4=0) turnright2(); if(num3=4&HW1=1&HW2=1&HW3=1&HW4=1) num3=5; delay(10); stop(); delay(100); qianjin(); if(num3=5&HW1=1&HW2=1&HW3=1&HW4=1) num3=6; delay(10); stop(); delay(100); qianjin(); if(num2=7&HW1=0&HW2=0&HW3=0&HW4=0) delay(100); if(num2=7&HW1=0&HW2=0&HW3=0&HW4=0) stop(); delay(90000);