利用msp 430F5529芯片设计循迹小车程序代码

以下是基于MSP430F5529芯片的循迹小车的程序代码，供参考：

#include <msp430.h>

#define LEFT_MOTOR_DIR P2DIR
#define LEFT_MOTOR_OUT P2OUT
#define LEFT_MOTOR_PIN BIT0

#define RIGHT_MOTOR_DIR P2DIR
#define RIGHT_MOTOR_OUT P2OUT
#define RIGHT_MOTOR_PIN BIT5

#define SENSOR_PORT_DIR P1DIR
#define SENSOR_PORT_IN P1IN
#define SENSOR_PORT_PIN BIT0 | BIT1 | BIT2 | BIT3

#define SENSOR_THRESHOLD 500

void setup_motor_pins()
{
    LEFT_MOTOR_DIR |= LEFT_MOTOR_PIN;
    RIGHT_MOTOR_DIR |= RIGHT_MOTOR_PIN;
}

void setup_sensor_pins()
{
    SENSOR_PORT_DIR &= ~SENSOR_PORT_PIN;
}

int read_sensor_value(int sensor_index)
{
    switch (sensor_index)
    {
        case 0:
            return ((SENSOR_PORT_IN & BIT0) == BIT0) ? 1 : 0;
        case 1:
            return ((SENSOR_PORT_IN & BIT1) == BIT1) ? 1 : 0;
        case 2:
            return ((SENSOR_PORT_IN & BIT2) == BIT2) ? 1 : 0;
        case 3:
            return ((SENSOR_PORT_IN & BIT3) == BIT3) ? 1 : 0;
        default:
            return 0;
    }
}

int main(void)
{
    WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer
    setup_motor_pins();
    setup_sensor_pins();

    while (1)
    {
        int left_sensor = read_sensor_value(0);
        int middle_sensor = read_sensor_value(1);
        int right_sensor = read_sensor_value(2);

        if (middle_sensor == 1)
        {
            LEFT_MOTOR_OUT |= LEFT_MOTOR_PIN;
            RIGHT_MOTOR_OUT |= RIGHT_MOTOR_PIN;
        }
        else if (left_sensor == 1 && middle_sensor == 0 && right_sensor == 0)
        {
            LEFT_MOTOR_OUT &= ~LEFT_MOTOR_PIN;
            RIGHT_MOTOR_OUT |= RIGHT_MOTOR_PIN;
        }
        else if (left_sensor == 0 && middle_sensor == 0 && right_sensor == 1)
        {
            LEFT_MOTOR_OUT |= LEFT_MOTOR_PIN;
            RIGHT_MOTOR_OUT &= ~RIGHT_MOTOR_PIN;
        }
        else if (left_sensor == 1 && middle_sensor == 0 && right_sensor == 1)
        {
            LEFT_MOTOR_OUT |= LEFT_MOTOR_PIN;
            RIGHT_MOTOR_OUT |= RIGHT_MOTOR_PIN;
        }
        else if (left_sensor == 0 && middle_sensor == 1 && right_sensor == 1)
        {
            LEFT_MOTOR_OUT |= LEFT_MOTOR_PIN;
            RIGHT_MOTOR_OUT |= RIGHT_MOTOR_PIN;
        }
    }
}

此代码基于MSP430F5529芯片，使用红外线传感器模块来检测车辆行驶的路线。在程序中，会不断读取传感器输出，根据检测结果自动调整方向，从而实现自动驾驶。代码实现的功能包括：初始化电机和传感器引脚、读取传感器输出、根据检测结果判断车辆行驶方向、控制电机转动。需要注意的是，此代码仅供参考，实际使用需要根据具体情况进行修改和优化。