# include & ltreg52.h & gt
# include & ltmath.h & gt
#定義uchar無符號字符
#定義uint無符號整數
#定義L_M 1
#定義R_M 2
uchar temp2，temp1，t，m1，m2，紅線；
sbit tr=p2^4；//超聲波
sbit ec=p2^5；//
sbit en=p2^7；//液晶的EN
sbit rs=p2^6；//液晶RS選擇端子
//液晶數據端口P0
sbit rin_1=p2^0；//跟蹤引腳輸入
sbit rin_2=p2^1；
sbit lin_2=p2^2；
sbit lin_1=p2^3；
sbit l_en=p1^0；//左側電機啟用
sbit l_1=p1^1；//左電機控制1
sbit l_2=p1^2；//左側電機控制2
sbit r_1=p1^3；//右電機控制1
sbit r_2=p1^4；//右電機控制2
sbit r_en=p1^5；//右電機啟用
Void delay(uint z) //延遲程序1
{
uint x，y；
for(x = z；x & gt0;x -)
for(y = 110；y & gt0;y-)；
}
無效延遲1s (uchart)//1s延遲功能
{
uchar a，h，I，j，k；
for(a = t；a & gt0;答-)
{
for(h = 5；h & gt0;h -)
for(I = 4；我& gt0;我-)
for(j = 116；j & gt0;j -)
for(k = 214；k & gt0;k-)；
}
}
void v _ control(uchar數，uchar速度)
{
如果(速度& lt100)
{
if(數字==1)
m1=abs(速度)；
如果(數字==2)
m2=abs(速度)；
}
}
無效左轉()
{
l _ 1 = 1；//左扇轉//
l _ 2 = 0；
r _ 1 = 1；//右翻轉
r _ 2 = 0；
}
無效右轉()
{
l _ 1 = 0；//左鄭篆
l _ 2 = 1；
r _ 1 = 0；//右翻轉
r _ 2 = 1；
}
void gostright()
{
l _ 1 = 0；//左鄭篆
l _ 2 = 1；
r _ 1 = 1；//右正轉
r _ 2 = 0；
}
void goback()
{
l _ 1 = 1；//左鄭篆
l _ 2 = 0；
r _ 1 = 0；//右正轉
r _ 2 = 1；
}
無效停止()
{
l _ 1 = 1；//停止
l _ 2 = 1；
r _ 1 = 1；//停止
r _ 2 = 1；
}
void定時器0_int()
{
TMOD = 0x 01；
TH0 =-100/256；
TL0 =-100% 256；
EA = 1；
ET0 = 1；
TR0 = 1；
}
state_int()
{
rin _ 1 = 1；
rin _ 1 = 1；
Lin _ 1 = 1；
Lin _ 1 = 1；
t = 0；
m 1 = 50；
m2 = 50
stop()；
}
void main()
{
定時器0 _ int()；
state _ int()；
while(1)
{
//避障程序
if((Lin _ 1 = = 1)& amp；& amp(Lin _ 2 = = 1)& amp；& amp(Rin _ 1 = = 1)& amp；& amp(Rin_2==1))
gostright()；
if((Lin _ 1 = = 1)& amp；& amp(Lin _ 2 = = 1)& amp；& amp(((Rin _ 1 = = 1)& amp；& amp(Rin _ 2 = = 0))| |((Rin _ 1 = = 0)& amp；& amp(Rin _ 2 = = 1))| |((Rin _ 1 = = 0)& amp；& amp(Rin_2==0))))
左轉()；
if((Rin _ 1 = = 1)& amp；& amp(Rin _ 2 = = 1)& amp；& amp(((Lin _ 1 = = 1)& amp；& amp(Lin _ 2 = = 0))| |((Lin _ 1 = = 0)& amp；& amp(Lin _ 2 = = 1))| |((Lin _ 1 = = 0)& amp；& amp(Lin_2==0))))
turn right()；
if(((((Lin _ 1 = = 1)& amp；& amp(Lin _ 2 = = 0))| |((Lin _ 1 = = 0)& amp；& amp(Lin _ 2 = = 1))| |((Lin _ 1 = = 0)& amp；& amp(Lin _ 2 = = 0)))& amp；& amp(((Rin _ 1 = = 1)& amp；& amp(Rin _ 2 = = 0))| |((Rin _ 1 = = 0)& amp；& amp(Rin _ 2 = = 1))| |((Rin _ 1 = = 0)& amp；& amp(Rin_2==0))))
go back()；
if((Lin _ 1 = = 1)& amp；& amp(Lin _ 2 = = 1)& amp；& amp(Rin _ 1 = = 1)& amp；& amp(Rin_2==1))
gostright()；
if((Lin _ 1 = = 1)& amp；& amp(Lin _ 2 = = 1)& amp；& amp(((Rin _ 1 = = 1)& amp；& amp(Rin _ 2 = = 0))| |((Rin _ 1 = = 0)& amp；& amp(Rin _ 2 = = 1))| |((Rin _ 1 = = 0)& amp；& amp(Rin_2==0))))
左轉()；
if((Rin _ 1 = = 1)& amp；& amp(Rin _ 2 = = 1)& amp；& amp(((Lin _ 1 = = 1)& amp；& amp(Lin _ 2 = = 0))| |((Lin _ 1 = = 0)& amp；& amp(Lin _ 2 = = 1))| |((Lin _ 1 = = 0)& amp；& amp(Lin_2==0))))
turn right()；
if(((((Lin _ 1 = = 1)& amp；& amp(Lin _ 2 = = 0))| |((Lin _ 1 = = 0)& amp；& amp(Lin _ 2 = = 1))| |((Lin _ 1 = = 0)& amp；& amp(Lin _ 2 = = 0)))& amp；& amp(((Rin _ 1 = = 1)& amp；& amp(Rin _ 2 = = 0))| |((Rin _ 1 = = 0)& amp；& amp(Rin _ 2 = = 1))| |((Rin _ 1 = = 0)& amp；& amp(Rin_2==0))))
go back()；
}
while(1)；
}
定時器0()中斷1
{
TH0 =-100/256；
TL0 =-100% 256；
如果(t==0)
{
temp 1 = m 1；
temp2 = m2
}
if(t==temp1)
l _ EN = 0；
if(t==temp2)
r _ EN = 0；
t++；
如果(t==50)
{
t = 0；
l _ EN = 1；
r _ EN = 1；
}
}