51灰度循迹小车代码

以下是51灰度循迹小车代码的示例：

#include<reg52.h>
#include<intrins.h>
#define uchar unsigned char
#define uint unsigned int
sbit L1=P2^0;
sbit L2=P2^1;
sbit L3=P2^2;
sbit L4=P2^3;
sbit L5=P2^4;
sbit L6=P2^5;
sbit L7=P2^6;
sbit L8=P2^7;
sbit ENA=P1^1;
sbit ENB=P1^2;
sbit IN1=P1^3;
sbit IN2=P1^4;
sbit IN3=P1^5;
sbit IN4=P1^6;
sbit beep=P1^7;
uchar code table[]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f};
void delay(uint z)
{
    uint x,y;
    for(x=z;x>0;x--)
        for(y=110;y>0;y--);
}
void delayms(uint x)
{
    uchar i,j;
    for(i=x;i>0;i--)
        for(j=110;j>0;j--);
}
void display(uchar num)
{
    P0=table[num];
}
void forward()
{
    IN1=1;
    IN2=0;
    IN3=1;
    IN4=0;
    ENA=1;
    ENB=1;
}
void back()
{
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;
    ENA=1;
    ENB=1;
}
void left()
{
    IN1=0;
    IN2=1;
    IN3=1;
    IN4=0;
    ENA=1;
    ENB=1;
}
void right()
{
    IN1=1;
    IN2=0;
    IN3=0;
    IN4=1;
    ENA=1;
    ENB=1;
}
void stop()
{
    IN1=0;
    IN2=0;
    IN3=0;
    IN4=0;
    ENA=0;
    ENB=0;
}
void main()
{
    uchar i;
    while(1)
    {
        if(L3==0&&L4==0)
        {
            forward();
            display(0);
        }
        else if(L3==0&&L4==1)
        {
            left();
            display(1);
        }
        else if(L3==1&&L4==0)
        {
            right();
            display(2);
        }
        else
        {
            back();
            display(3);
        }
    }
}