QX-A51小車循跡

ID:685563 · 發(fā)表于 2020-1-13 10:45

#include<reg52.h>
sbit IN1=P1^2;
sbit IN2=P1^3;
sbit IN3=P1^6;
sbit IN4=P1^7;
sbit EN1=P1^4;
sbit EN2=P1^5;
sbit RPR1=P3^2;
sbit RPR2=P3^3;
sbit key=P3^0;
void F(void);
void R(void);
void L(void);
unsigned int  pwm_t,left_pwm,right_pwm;

void main(void)
{
if(key==0)
{
TMOD=0x10;
TH0=0x00;
TL0=0xDC;
EA=1;
ET0=1;
TR0=1;
  while(1)
  {
if((RPR1==0)&&(RPR2==0))
{L();}
if((RPR1==0)&&(RPR2==1))
  {R();}
if((RPR1==1)&&(RPR2==0))
  { L();}
}}

//  else
// {
//  EN1=0;
//  EN2=0;
//  }


} }  pwm_t=0;  EN2=1;  EN1=1;  TL0=0xDC;  TH0=0x00; TF0=0; { if(pwm_t==256) }  EN2=0; if(pwm_t==right_pwm)  EN1=0;  if(pwm_t==left_pwm)  { for(pwm_t=0;pwm_t<256;pwm_t++) EN2=1; EN1=1; IN4=0; IN3=1; IN2=0; IN1=0; right_pwm=130; left_pwm=130;{void R(void)}    }  pwm_t=0;  EN2=1;  EN1=1;  TL0=0xDC;  TH0=0x00; TF0=0; { if(pwm_t==256) }  EN2=0; if(pwm_t==right_pwm)  EN1=0;  if(pwm_t==left_pwm)  { for(pwm_t=0;pwm_t<256;pwm_t++) EN2=1; EN1=1; IN4=0; IN3=0; IN2=1; IN1=0; right_pwm=120;//sudu left_pwm=120;//sudu {void L(void)} }  pwm_t=0;  EN2=1;  EN1=1;  TL0=0xDC;  TH0=0x00; TF0=0; { if(pwm_t==256) }  EN2=0; if(pwm_t==right_pwm)  EN1=0;  if(pwm_t==left_pwm)  { for(pwm_t=0;pwm_t<256;pwm_t++) EN2=1; EN1=1; IN4=0; IN3=1; IN2=1; IN1=0; right_pwm=140; left_pwm=140;{void F(void)  }

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