一个假期的努力-一个偶尔红外壁障可以遥控的智能小车

  1     #include<reg52.h>  
  2     #define uint unsigned int  
  3     #define uchar unsigned char  
  4         sbit left1=P1^0;  
  5         sbit left2=P1^1;  
  6         sbit right1=P1^2;  
  7         sbit right2=P1^3;  
  8         sbit Trig=P1^4;   
  9         sbit Echo=P1^5;  
 10         sbit c_0=P2^0;  
 11         sbit c_1=P2^1;  
 12         sbit c_2=P2^2;  
 13         sbit c_3=P2^3;  
 14         long Th1,Tl1;  
 15         uint how=0;  
 16         uint distance=0;  
 17         uint time=0;  
 18         bit Timeup=0;  
 19       
 20         uint state=0;                        // 0为待定 1为壁障   2为遥控  
 21         uint avoidstate=0;                      // 0为前进探索 1为停止确定 2为后退 3为左转   4为继续前进（不探测）  
 22         uint t=0;                                //pwm  
 23         uint count=5;                           //占空比  
 24       
 25                        
 26     void delay_20us()   
 27     {   
 28         uchar a ;   
 29         for(a=0;a<50;a++);   
 30     }  
 31     uint measuring()  
 32     {   char Rxback=1;  
 33          //初始化  
 34       
 35         Th1=0;  
 36         Tl1=0;  
 37         Timeup=0;  
 38       
 39         ET1=1; //开启定时器1中断  
 40         TR1=0;  
 41         TH1=0;  
 42         TL1=0;  
 43           
 44         Trig=1;  
 45         delay_20us();  
 46         Trig=0;   
 47         while(Echo==0);//等待信号返回  
 48         TH1=0;  
 49         TL1=0;  
 50         TR1=1;  
 51         while(Rxback)  
 52         {  
 53             if(Echo==0||Timeup==1)  
 54             {  
 55                 TR1=0;  
 56                 Th1=TH1;  
 57                 Tl1=TL1;  
 58                 TR1=1;  
 59                 Rxback=0;  
 60             }                                                     
 61         }  
 62         time=(Th1*256+Tl1);  
 63         distance=((unsigned long)(340)*time)/2000;   //单位mm  
 64         if(distance<30||distance>900)  
 65         distance=0;   //去除错误数据  
 66         return distance;  
 67     }  
 68     void delayms(uint ms)  
 69     {  
 70         uint i,j;  
 71         for(i=ms;i>0;i++)  
 72             for(j=110;j>0;j++);  
 73     }  
 74     void left()  
 75     {  
 76         left1=1;  
 77         left2=0;  
 78         right1=1;  
 79         right2=1;  
 80     }  
 81     void right()  
 82     {  
 83         right1=1;  
 84         right2=0;  
 85         left1=1;  
 86         left2=1;  
 87     }  
 88     void run()  
 89     {  
 90         left1=1;  
 91         left2=0;  
 92         right1=1;  
 93         right2=0;  
 94     }  
 95     void stop()  
 96     {  
 97         left1=1;  
 98         left2=1;  
 99         right1=1;  
100         right2=1;  
101     }  
102     void judgement()  
103     {  
104             if(how<=150&&how>=40&&avoidstate==0)  
105             {  
106                 avoidstate=1;  
107             }  
108     }  
109     void time0() interrupt 1              //pwm 控制  state 0为待定 1为壁障 2为循迹 3为遥控  
110     {  
111         TL0 = 0x00;     //设置定时初值20ms  
112         TH0 = 0xB8;     //设置定时初值  
113         t++;  
114         if(t>=20)  
115         {  
116             t=0;  
117         }  
118         if(t<=count)  
119         {     
120              if(state==1)  
121             {  
122                 judegement();  
123                 if(avoidstate==0)  
124                     run();  
125                 if(avoidstate==1)  
126                 {       leftgo();  
127                         delayms(5);  
128                         avoidstate=0;  
129                 }  
130             }  
131             if(state==2)  
132             {   if(c_0==1)  
133                         run();  
134                 else      
135                 {   if(c_1==1)  
136                             left();  
137                     else  
138                     {   if(c_2==1)  
139                                 right();  
140                         else  
141                         {   if(c_3==1)  
142                                 stop();  
143                         }  
144                     }  
145                 }  
146             }      
147         }  
148         else  
149         {  
150             stop();  
151         }    
152     }  
153     void T0_time() interrupt 3  
154     {  
155         Timeup=1;  
156     }  
157     void main()  
158     {  
159         state=2;          //    停止等待状态  
160           
161         left1=1;             //初始化电机   
162         left2=1;  
163         right1=1;  
164         right2=1;  
165       
166       
167         TMOD=0x11;            // 0&1计时器可用  
168         TL0 = 0x00;     //设置定时20ms  
169         TH0 = 0xB8;       
170         ET0=1;  
171         TR0=1;  
172         TR1=0;  
173         EA=1;     
174         delayms(5);  
175         run();  
176         while(1)  
177         {       if(state==1)  
178                 {how=measuring();  }  
179         }  
180     }