小車直行

ID:290050 · 發(fā)表于 2018-3-10 14:56

#include <reg52.h>
#include <intrins.h>
#define F 2

sbit Q_IN1=P0^4;             //前左輪
sbit Q_IN2=P0^5;
sbit Q_IN3=P0^7;          //前右輪
sbit Q_IN4=P0^6;
sbit Q_IN5=P0^3;          //后左輪
sbit Q_IN6=P0^2;
sbit Q_IN7=P0^1;          //后右輪
sbit Q_IN8=P0^0;

void delay1ms(void) //誤差 -0.651041666667us
{
unsigned char a,b;
for(b=4;b>0;b--)
      for(a=113;a>0;a--);
}

void main(void)
{
unsigned char counter =0;
unsigned char temp=0;
while(1)
{
for(counter=0;counter<F;counter++)
{
      Q_IN1=0,Q_IN2=1;
         Q_IN3=0,Q_IN4=1;
         Q_IN5=0,Q_IN6=1;
         Q_IN7=0,Q_IN8=1;
for (temp=0;temp<counter;temp++)
{
delay1ms();
}
      Q_IN1=0,Q_IN2=0;
         Q_IN3=0,Q_IN4=0;
         Q_IN5=0,Q_IN6=0;
         Q_IN7=0,Q_IN8=0;
for(temp=0;temp<F-counter;temp++)
{
delay1ms();
}
}
}

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