智能小车红外避障程序

#include #include

#include

#define FLeftMotor P1_0 = 1 ; P1_1 = 0 #define BLeftMotor P1_0 = 0 ; P1_1 = 1 #define FRightMotor P1_2 = 1 ; P1_3 = 0 #define BRightMotor P1_2 = 0 ; P1_3 = 1 #define LeftStop P1_0 = 1 ; P1_1 = 1 #define RightStop P1_2 = 1 ; P1_3 = 1

#define CarStop P1_0 = 1; P1_1 = 1 ; P1_2 = 1 ; P1_3 = 1 Senser=P3^2//延时// Void delay1(unsigned int i) { }

//******************************************************** // 左转

//******************************************************** void TurnLeft_1() {

LeftStop ; FRightMotor ; }

//******************************************************** // 壁障程序

//******************************************************** void Obstacle_Avoid(void) {

While(--i)

if(!Senser) {

Fleftmotor;

Frightmotor; }

if((RightSenser) { Turnright();

delay1(300);

Fleftmotor;Frightmotor; Delay1(300);

Turnleft(); delay1(300);

Fleftmotor;Frightmotor; } //右转//

void Turnright() { }

void Turnleft() { }

中断方式：

Rightstop; Fleftmotor;

Leftstop; Frightmotor;

#include #include # include #define qianjin P1=0x0A; #define zuozhuan P1=0x02; #define youzhuan P1=0x08; #define houtui P1=0x05; //前进// //左转// //右转// //后退// #define shatin P1=0x0f; IE=0x05;

SETB EXO;SETB EX1;

Void bizhang (void) interrupt 0;

Void delay (unsigned char i); Void main (void) { while(1){ qianjin; } }

Void bizhang ( ) interrupt 0 { EA=0; zuozhuan; delay(500); shatin; if(!(EX0||EX1))

{ zuozhuan;

delay(500); shatin;

}

qianjin; delay(30000); zuozhuan; delay(500); EA=1; }

Void delay (unsigned char i) { while(--i); }

//刹停//

//壁障函数//

//延时函数//