51红外循迹小车代码

以下是基于51芯片的红外循迹小车代码，包括寻线和跟随功能：

#include "reg52.h"
#include "delay.h"

sbit Finder_Left = P2^0;
sbit Finder_Right = P2^1;
sbit Flow_Left = P2^3;
sbit Flow_Right = P2^2;

extern char speed_Right;//0~40
extern char speed_Left;//0~40

//寻线功能
void checkWay(){
    //左边触线，左转
    if(Finder_Left && !Finder_Right){
        speed_Right = 40;
        speed_Left = 10;
    }
    //右边触线，左转
    else if(Finder_Right && !Finder_Left){
        speed_Right = 7;
        speed_Left = 40;
    }
    //车悬空，停止移动
    else if(Finder_Right && Finder_Left){
        speed_Right = 0;
        speed_Left = 0;
    }
    //直线，直行
    else{
        speed_Right = 36;
        speed_Left = 36;
    }
}

//跟随功能
void flow(){
    //左边有人，左转
    if(Flow_Right && !Flow_Left){
        speed_Right = 40;
        speed_Left = 5;
    }
    //右边有人，右转
    else if(Flow_Left && !Flow_Right){
        speed_Right = 5;
        speed_Left = 40;
    }
    //车悬空，停止移动
    else if(Flow_Right && Flow_Left){
        speed_Right = 0;
        speed_Left = 0;
    }
    //人在前方，直行
    else{
        speed_Right = 40;
        speed_Left = 40;
    }
}