c51红外循迹避障小车代码

以下是c51红外循迹避障小车的代码：

//头文件
#include <reg52.h>
#include <intrins.h>
#include "delay.h"
#include "lcd1602.h"
#include "ir.h"
#include "motor.h"
#include "ultrasonic.h"

//宏定义
#define uchar unsigned char
#define uint unsigned int

//函数声明
void init();
void display();

//全局变量
uchar mode = 0; //模式选择
uchar speed = 50; //小车速度
uchar distance = 0; //超声波距离

//主函数
void main()
{
    init(); //初始化
    while(1)
    {
        display(); //显示信息
        switch(mode)
        {
            case 0: //循迹模式
                if(ir() == 0x1c) //左1右1
                    left_forward(speed);
                else if(ir() == 0x18) //左0右1
                    left_forward(speed/2), right_stop();
                else if(ir() == 0x1e) //左1右0
                    left_stop(), right_forward(speed/2);
                else if(ir() == 0x0c) //左0右0
                    left_backward(speed/2), right_forward(speed/2);
                else if(ir() == 0x1d) //左1右2
                    left_forward(speed/2), right_backward(speed);
                else if(ir() == 0x19) //左2右1
                    left_backward(speed), right_forward(speed/2);
                else if(ir() == 0x1f) //左2右2
                    left_stop(), right_stop();
                break;
            case 1: //避障模式
                if(ultrasonic() < 30) //前方有障碍物
                    left_backward(speed), right_forward(speed), delay_ms(500);
                else //前方无障碍物
                    left_forward(speed), right_forward(speed);
                break;
        }
    }
}

//初始化函数
void init()
{
    lcd_init(); //LCD1602初始化
    ir_init(); //红外循迹初始化
    motor_init(); //电机初始化
    ultrasonic_init(); //超声波初始化
}

//显示函数
void display()
{
    lcd_write_string(0, 0, "Mode: ");
    lcd_write_string(6, 0, mode == 0 ? "Track" : "Avoid");
    lcd_write_string(0, 1, "Speed: ");
    lcd_write_data(speed/10 + '0');
    lcd_write_data(speed%10 + '0');
    lcd_write_string(6, 1, "Dist: ");
    distance = ultrasonic();
    lcd_write_data(distance/10 + '0');
    lcd_write_data(distance%10 + '0');
}

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