单片机

利用单片机实现循迹功能

#include<reg52.h>


sbit in1=P0^0;       
sbit in2=P0^1;       
sbit in3=P0^2;

sbit LB=P2^3;
sbit LF=P2^2;         
sbit RB=P2^1;         
sbit RF=P2^0;         
unsigned char T0RH=0;
unsigned char T0RL=0;
unsigned PWM_L=0;
unsigned PWM_R=0;
void ConfigTimer0(unsigned int ms);
void Stop();
void Scan();

void main()
{
EA=1;
ConfigTimer0(0.1);
        while(1)
        {
        Scan();
        }

}

void Stop()
{
  LB=0;
        LF=0;
  RB=0;
        RF=0;
}

void ConfigTimer0(unsigned int ms)
{
unsigned long tmp;
        tmp=11059200/12;
        tmp=(tmp*ms)/1000;
  tmp=65536-tmp;
  tmp=tmp+18;
        T0RH=(unsigned char )tmp>>8;
   T0RL=(unsigned char )tmp;
        TMOD=TMOD&0xF0;
        TMOD=TMOD|0x01;
        TH0=T0RH;
        TL0=T0RL;
        TR0=1;
        ET0=1;
}
void InterruptTimer0() interrupt 1
{
static unsigned char t=0;
TH0=T0RH;
TL0=T0RL;
if(t<PWM_L)
{
LF=1;
}
else
{
LF=0;
}
if(t<PWM_R)
{
LF=1;
}
else
{
LF=0;
}
t++;
if(t>100)
{
t=0;
}
}
void Scan()
{
if((in1==0)&&(in2==0)&&(in3==0))
{
PWM_L=0;
PWM_R=0;
        Stop();
}

if((in1==0)&&(in2==0)&&(in3==1))
{
PWM_R=50;
PWM_L=0;
}
if((in1==0)&&(in2==1)&&(in3==1))
{
PWM_R=80;
        PWM_L=0;
}
if((in1==1)&&(in2==0)&&(in3==0))
{
PWM_R=0;
        PWM_L=80;
}
if((in1==1)&&(in2==1)&&(in3==0))
{
PWM_R=0;
        PWM_L=50;
}
if((in1==1)&&(in2==1)&&(in3==1))
{
PWM_R=40;
        PWM_L=40;
}

}