stc52单片机智能小车延黑线行驶代码
时间: 2023-07-28 16:06:42 浏览: 41
以下是一个简单的STC52单片机智能小车延黑线行驶的代码示例:
```c
#include <8051.h>
#define motor1 P1_0
#define motor2 P1_1
#define sensor1 P2_0
#define sensor2 P2_1
#define sensor3 P2_2
#define sensor4 P2_3
#define sensor5 P2_4
#define sensor6 P2_5
void delay(unsigned int ms) {
unsigned int i, j;
for (i = 0; i < ms; i++) {
for (j = 0; j < 1000; j++);
}
}
void forward() {
motor1 = 1;
motor2 = 0;
}
void backward() {
motor1 = 0;
motor2 = 1;
}
void stop() {
motor1 = 0;
motor2 = 0;
}
void turn_left() {
motor1 = 1;
motor2 = 1;
delay(100);
motor1 = 0;
motor2 = 1;
}
void turn_right() {
motor1 = 1;
motor2 = 1;
delay(100);
motor1 = 1;
motor2 = 0;
}
void main() {
while (1) {
if (sensor1 == 0 && sensor2 == 0 && sensor3 == 0 && sensor4 == 0 && sensor5 == 0 && sensor6 == 0) {
forward();
} else if (sensor1 == 1 && sensor6 == 1) {
turn_left();
} else if (sensor1 == 1 && sensor2 == 1) {
turn_left();
} else if (sensor5 == 1 && sensor6 == 1) {
turn_right();
} else if (sensor4 == 1 && sensor5 == 1) {
turn_right();
} else if (sensor3 == 1) {
stop();
}
}
}
```
该代码使用了STC52单片机的基本输入输出端口和定时器延时函数,通过读取六个红外线传感器的状态来决定小车的行驶方向。如果六个传感器都检测到黑线,则小车向前行驶;如果传感器1和传感器6都检测到黑线,则小车向左转;如果传感器1和传感器2都检测到黑线,则小车向左转;如果传感器5和传感器6都检测到黑线,则小车向右转;如果传感器4和传感器5都检测到黑线,则小车向右转;如果只有传感器3检测到黑线,则小车停止行驶。