寻迹小车——代码

<p>嘿嘿嘿！今天下午终于把小车代码写好了，黑胶带还没来，稍微调一下就应该能跑了，是不是很厉害！下面是我下午写的代码</p><div></div>

#include<reg52.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(){TMOD |= 0x01;TH0 =(65536 - 100) / 256;TL0 = (65536 - 100)% 256;EA = 1;ET0 = 1;TR0 = 1;}void timer0() interrupt 1{if(t < zkb1){ENA = 1;}else{ENA = 0;}if(t < zkb2){ENB = 1;}else {ENB = 0;}if(t >= 50){t = 0;}}void turn_left1(){zkb1 = 20;zkb2 = 50;}void turn_left2(){zkb1 = 0;zkb2 = 50;}void turn_right1(){zkb1 = 50;zkb2 = 20;}void turn_right2(){zkb1 = 50;zkb2 = 0;}void qianjin(){zkb1 = 50;zkb2 = 50;}void xunji(){unsigned char flag;if((right2 == 0)&&(right1 == 0)&&(left1 == 0)&&(left2 == 0)){flag = 0;}if((right2 == 0)&&(right1 == 1)&&(left1 == 0)&&(left2 == 0)){flag = 1;}if((right2 == 0)&&(right1 == 0)&&(left1 == 1)&&(left2 == 0)){flag = 2;}if((right2 == 0)&&(right1 == 0)&&(left1 == 0)&&(left2 == 1)){flag = 3;}if((right2 == 1)&&(right1 == 0)&&(left1 == 0)&&(left2 == 0)){flag = 4;}switch(flag){case 0:qianjin();break;case 1:turn_right1();break;case 2:turn_left1();break;case 3:turn_left2();break;case 4:turn_right2();break;default:break;}}void main(){init();zkb1 = 50;zkb2 = 50;while(1){IN1 = 0;IN2 = 1;IN3 = 0;IN4 = 1;ENA = 1;ENB = 1;while(1){xunji();}}}