发布时间 : 星期三 文章西北农林科技大学智能小车实习总结（完整版） - 图文更新完毕开始阅读7d82cb05856a561253d36f94
ght==0)
if(ir_left==1&&ir_mid==0&&ir_right==1)
if(ir_left==1&&ir_mid==0&&ir_right==0)
if(ir_left==0&&ir_mid==1&&ir_right==1)
}
}
}
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move_right(15,1,1);
}
delay(400);
{
move_left(15,0,1);
delay(400);
move_right(15,0,1);
if(ir_left==0&&ir_mid==1&&ir_ri
}
delay(800); {
ght==0)
move_left(15,0,1); move_right(15,0,1);
{
move_left(15,0,1);
delay(800);
move_right(15,0,1);
if(ir_left==0&&ir_mid==0&&ir_ri
}
delay(400); {
ght==1)
move_left(15,1,1); move_right(15,1,1);
{
move_left(15,0,1);
delay(400);
move_right(15,0,1);
if(ir_left==0&&ir_mid==0&&ir_ri
}
}
} {
ght==0)
move_left(15,1,1); move_right(15,1,1);
{
move_left(15,1,1);
void
interrupt 3
{
timer1_serve()
{
clk_left=~clk_left;
TH1=(65536-100)/256; TL1=(65536-100)%6; n=n+1; if(n==speed)
clk_right=~clk_right;
}
}
n=0;
3.3.6步进电机小车的任务集成控制实现（改进） ①步进电机小车的任务集成控制程序如下：
#include \#include \#include
#define uchar unsigned char #define uint unsigned int sbit en_left = P1^0; sbit cw_left = P1^1; sbit clk_left = P1^2; sbit en_right = P1^3; sbit cw_right = P1^4; sbit clk_right = P1^5; sbit B_key=P2^0; sbit D_key=P2^1; sbit A_key=P2^2; sbit C_key=P2^6; sbit ir_left=P2^5; sbit ir_right=P2^4; void timer_init(); void void
move_left(uint move_right(uint speed_l,uchar cw,uchar en); speed_r,uchar cw,uchar en);
void delay(unsigned int k); uint nl; uint nr;
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uint speedl; uint speedr;
void delay(unsigned int k) { }
void timer1_init() { } void {
speedl=speed_l; if(cw==1) {cw_left=1;} else
move_left(uint
speed_l,uchar cw,uchar en)
TMOD=0x10; ET1=1; EA=1;
TH1=(65536-100)/256; TL1=(65536-100)%6; TR1=1;