51两轮循迹小车代码

以下是51单片机两轮循迹小车的代码：

#include <reg52.h>

sbit STBY1 = P1^0; //定义STBY1引脚
sbit STBY2 = P1^1; //定义STBY2引脚
sbit R1 = P2^0; //定义R1引脚
s R2 = P2^1; //定义R2引脚
sbit M = P2^2; //定义M引脚
sbit L1 = P2^3; //定义L1引脚
sbit L2 = P2^4; //定义L2引脚

void Motor_start() //启动
{
    STBY1 = 1; //右两轮
    STBY2 = 1; //后两轮
}

void Motor_Stop() //停止
{
    STBY1 = 0; //右两轮
    STBY2 = 0; //后两轮
}

void Motor_Forward() //前进
{
    P1 = 0x0a; //右两轮正转，左两轮反转
}

void Left_Motor_Forward() //左转
{
    P1 = 0x02; //右两轮正转，左两轮停止
}

void Right_Motor_Forward() //右转
{
    P1 = 0x08; //右两轮停止，左两轮反转
}

void Speed(int speed) //设置速度
{
    TH0 = 256 - speed; //设置定时器初值
    TL0 = 256 - speed; //设置定时器初值
}

void main()
{
    while(1)
    {
        if((R1==0)&&(M==1)&&(L1==0)) //前进
        {
            Speed(2);
            Motor_Forward();
        }
        else if((R1==1)&&(R2==1)&&(M==1)&&(L1==1)&&(L2==1)) //停止
        {
            Motor_Stop();
        }
        else if((R1==1)&&(R2==0)&&(M==1)&&(L1==0)&&(L2==1)) //左转
        {
            Speed(2);            Left_Motor_Forward();
        }
        else if((R1==0)&&(R2==1)&&(M==1)&&(L1==1)&&(L2==0)) //右转
        {
            Speed(2);
            Right_Motor_Forward();
        }
    }
}