智能紅外循跡小車

ID:77134 · 發(fā)表于 2015-4-17 14:01

智能紅外循跡小車c程序：
//采用五線四相步進電機，P2及P3口通過ULN2003驅(qū)動步進電機，循跡模塊的兩個輸出端分別接P1.0和P1.1
#include<reg51.h>
#define uchar unsigned char
#define uint unsigned int
code uchar zheng1[]={0xe6,0xc7,0xd3,0x9b,0xb9,0x3d,0x7c,0x6e};
code uchar fan1[]={0x6e,0x7c,0x3d,0xb9,0x9b,0xd3,0xc7,0xe6};
code uchar zuo1[]={0xee,0xcc,0xdd,0x99,0xbb,0x33,0x77,0x66};
code uchar you1[]={0x66,0x77,0x33,0xbb,0x99,0xdd,0xcc,0xee};
uchar i,j,p,t,s;
uint n;
void play();
void delay()
{
  s=t;
  while(s--)
for(j=0;j<135;j++) ;
}
void delay1(uchar x)
{
  while(x--)
for(j=0;j<125;j++) ;
}
void zheng()
{
  t=4;
  for(t=4;t>1;t--)
  {
for(i=0;i<8;i++)
{
   P3=zheng1[i];
P2=zheng1[i];
delay();
}
  }
  for(n=0;n<50;n++)
  {
for(i=0;i<8;i++)
{
   P3=zheng1[i];
P2=zheng1[i];
delay();
}
  }
}
void zuo()
{
  t=4;
  for(t=4;t>1;t--)
  {
for(i=0;i<8;i++)
{
   P3=zuo1[i];
P2=zuo1[i];
delay();
}
  }
  for(n=0;n<50;n++)
  {
for(i=0;i<8;i++)
{
   P3=zuo1[i];
P2=zuo1[i];
delay();
}
  }
}
void you()
{
  t=4;
  for(t=4;t>1;t--)
  {
for(i=0;i<8;i++)
{
   P3=you1[i];
P2=you1[i];
delay();
}
  }
  for(n=0;n<50;n++)
  {
for(i=0;i<8;i++)
{
   P3=you1[i];
P2=you1[i];
delay();
}
  }
}
void main()
{
  while(1)
  {
P1=0xff;
p=P1;
if(p!=0xff)
{
delay1(20);
p=P1;
if(p!=0xff)
{
   switch(p)
  {
case 0xfe: you();break;
case 0xfd: zuo();break;
case 0xff: zuo();break;
case 0xfc: zheng();break;
  }
}
}
  }
}