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#include <reg51.h>
sbit ENA = P2^0; //右
sbit IN1 = P2^1; //右
sbit IN2 = P2^2;
sbit IN3 = P2^3; // 左
sbit IN4 = P2^4;
sbit ENB = P2^5; //左 //電驅(qū)端口配置
sbit left = P1^2;
sbit middle =P1^1;
sbit right =P1^0; //循跡
unsigned char zkb1 = 0;//定義了一下左邊兩個(gè)輪的占空比
unsigned char zkb2 = 0;//定義了一下右邊兩個(gè)輪的占空比
int t = 0;
void PIT_Init() //初始化
{
EA = 1;
TMOD |= 0x01;
TH0 = (65536 - 200) / 256;
TL0 = (65536 - 200) % 256;
ET0 = 1;
TR0 = 1;
}
void timer()interrupt 1 // pwm
{
TH0 = (65536-200)/256;
TL0 = (65536-200)%256;
if(t<zkb1)
{
ENA = 1;
}
else
{
ENA = 0;
}
if(t<zkb2)
{
ENB = 1;
}
else
{
ENB = 0;
}
t = (t + 1) %50;
}
void run()
{
zkb1 = 20;
zkb2 = 20;
IN1 = 0; //右輪正轉(zhuǎn)
IN2 = 1;
IN3 = 1; // 左輪正轉(zhuǎn)
IN4 = 0;
}
void stop(void)
{ zkb1 = 0;
zkb2 = 0;
IN1 = 0;
IN2 = 0;
IN3 = 0;
IN4 = 0;
}
void leftrun(void)
{
zkb1 = 35;
zkb2 = 35;
IN1=0;
IN2=1; //右輪正轉(zhuǎn)
IN3=0 ;//左輪反轉(zhuǎn)
IN4=1;
}
void rightrun(void)
{
zkb1 = 35;
zkb2 = 35;
IN1=1; //右輪反轉(zhuǎn)
IN2=0;
IN3=1;
IN4=0; //左輪正轉(zhuǎn)
}
void xunji()//檢測(cè)到黑線為1高電平
{
if( (left == 1)&&(middle == 1)&&(right==1) )
{
run();
}
if( (left ==0 )&&(middle == 1)&&(right==0) )
{
run();
}
if( (left ==0 )&&(middle == 0)&&(right==0) )
{
run();
}
if( (left == 0)&&(middle == 1)&&(right==1) )
{
rightrun();
}
if( (left == 0)&&(middle == 0)&&(right==1) )
{
rightrun();
}
if( (left == 1)&&(middle == 1)&&(right==0) )
{
leftrun();
}
if( (left == 1)&&(middle == 0)&&(right==0) )
{
leftrun();
}
if( (left == 1)&&(middle == 0)&&(right==1) )
{
leftrun();
}
}
void main()
{
run();
PIT_Init();
zkb1 = 20 ;
zkb2 = 20 ;
run();
while(1)
{
xunji();
}
}
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