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51单片机寻迹小车程序 //////***红外 #include<reg52.h> #include<intrins.h> unsigned int thigh_zuo; unsigned int thigh_you; unsigned int thigh_zuo1; unsigned int thigh_you1; unsigned int count=0; sbit en0=P1^2; sbit en1=P1^3; sbit fan0=P1^4; sbit fan1=P1^5; timer_set() { TMOD=0x99; TH0=TH1=TL0=TL1=0; TR0=TR1=TR2=1; EX0=EX1=ET2=EA=1; IT0=IT1=1; RCAP2H=TH2=255; RCAP2L=TL2=0; } void ex0_int() interrupt 0 { thigh_zuo=TH0*256+TL0; if(thigh_zuo>500) { en0=1; fan0=0; } else fan0=1; TH0=TL0=0; } void ex1_int() interrupt 2 { thigh_you=TH1*256+TL1; if(thigh_you>500) { en1=1; fan1=0; } else fan1=1; TH1=TL1=0; } void time2_int() interrupt 5 { count++; if(count>520) { en0=0; en1=0; count=0; thigh_zuo1=thigh_zuo; thigh_you1=thigh_you; } if(count>thigh_zuo1) { en0=1; } if(count>thigh_you1) { en1=1; } } main() { timer_set(); while(1) { _nop_(); } }