智能小车-----寻迹的代码

注：使用的是l298的还有rpr220的芯片和扫描做的。

 

 

#include <reg52.h>
#include"./delay/delay.h"

sbit IN1 = P1^0;
sbit IN2 = P1^1;
sbit ENA = P1^2;
sbit IN3 = P1^3;
sbit IN4 = P1^4;
sbit ENB = P1^5;

sbit left1 = P0^0;
sbit left2 = P0^1;
sbit right1 = P0^2;
sbit right2 = P0^3;

unsigned char zkb1 = 0;
unsigned char zkb2 = 0;
unsigned char t = 0;

void init()
{
 EA = 1;
 TMOD |= 0x01;
 TH0 =(65536 - 100) / 256;
 TL0 = (65536 - 100)% 256; 
 ET0 = 1;
 TR0 = 1;
}

void timer0() interrupt 1
{

 TH0 = (65536 - 100) / 256;
 TL0 = (65536 - 100) % 256;
  
 if(t < zkb1)
 {

  ENA = 1;
 }
 else
 {
  ENA = 0;
 }
 if(t < zkb2)
 {