stc89c51实现红外寻迹 ，超声波配合舵机定点测距的代码

以下是STC89C51单片机实现红外寻迹，超声波配合舵机定点测距的代码示例：

#include <reg52.h>

#define FOSC 11059200L      //定义时钟频率
#define BAUD 9600           //定义波特率
#define TH1_VALUE 256 - FOSC / 12 / BAUD //定义计算初值
sbit Trig = P1^1;           //定义超声波发射管脚
sbit Echo = P1^0;           //定义超声波接收管脚
sbit infrared1 = P2^0;      //定义红外传感器1
sbit infrared2 = P2^1;      //定义红外传感器2
sbit infrared3 = P2^2;      //定义红外传感器3
sbit infrared4 = P2^3;      //定义红外传感器4
sbit infrared5 = P2^4;      //定义红外传感器5
sbit infrared6 = P2^5;      //定义红外传感器6
sbit infrared7 = P2^6;      //定义红外传感器7
sbit infrared8 = P2^7;      //定义红外传感器8
sbit left = P1^2;           //定义左转向
sbit right = P1^3;          //定义右转向
sbit stop = P1^4;           //定义停车
sbit run = P1^5;            //定义前进

unsigned char code infrared[8] = {0xFE, 0xFD, 0xFB, 0xF7, 0xEF, 0xDF, 0xBF, 0x7F}; //红外传感器值
unsigned char flag = 0;     //定义标志位
unsigned int distance = 0;  //定义距离

void InitUart()             //初始化串口
{
    TMOD |= 0x20;           //定时器1工作在模式2
    TH1 = TH1_VALUE;        //计算计数初值
    TL1 = TH1;              //初始化计数器
    PCON |= 0x80;           //波特率加倍
    SCON = 0x50;            //打开串口，工作在方式1
    ES = 1;                 //打开串口中断
    EA = 1;                 //打开总中断
    TR1 = 1;                //启动计数器1
}

void UartSend(unsigned char dat)    //发送一个字符
{
    SBUF = dat;
    while(!TI);
    TI = 0;
}

void UartSendString(unsigned char *str)  //发送字符串
{
    while(*str) UartSend(*str++);
}

void DelayUs(unsigned t)    //微秒延时
{
    while(t--);
}

void DelayMs(unsigned int t)    //毫秒延时
{
    while(t--)
    {
        DelayUs(1000);
    }
}

void MeasureDistance()          //测量距离
{
    Trig = 1;
    DelayUs(10);
    Trig = 0;
    while(!Echo);               //等待接收到回波
    TR1 = 1;                     //启动计数器1
    while(Echo);                //等待回波结束
    TR1 = 0;                     //关闭计数器1
    distance = (unsigned int)(TH1 << 8) | TL1;   //计算距离
    distance = distance / 58;                   //单位为厘米
}

void Steer(float angle)         //舵机转动
{
    unsigned int i;
    unsigned int count = (unsigned int)(angle / 0.9 + 35); //计算脉冲宽度
    for(i = 0; i < count; i++)
    {
        P1 = 0xFE;              //引脚输出高电平
        DelayUs(10);            //延时10us
        P1 = 0x00;              //引脚输出低电平
        DelayMs(20);            //延时20ms
    }
}

void main()
{
    InitUart();                 //初始化串口
    run = 1;                    //启动前进
    while(1)
    {
        MeasureDistance();      //测量距离
        if(distance < 30)       //距离小于30cm
        {
            stop = 0;
            run = 0;
            right = 1;
            DelayMs(500);
            MeasureDistance();
            if(distance > 30)
            {
                right = 0;
                run = 1;
            }
            else
            {
                left = 1;
                DelayMs(1000);
                right = 0;
                left = 0;
                run = 1;
            }
        }
        if(infrared1 == infrared[0] && infrared2 == infrared[1] && infrared3 == infrared[2] && infrared4 == infrared[3] && infrared5 == infrared[4] && infrared6 == infrared[5] && infrared7 == infrared[6] && infrared8 == infrared[7]) //八个传感器均为黑线
        {
            stop = 1;
            run = 0;
        }
        else if(infrared3 == infrared[2] && infrared4 == infrared[3])  //前方有黑线
        {
            stop = 1;
            run = 0;
            Steer(90);          //调整舵机角度
            DelayMs(1000);
            MeasureDistance();  //重新测量距离
            if(distance > 30)   //距离大于30cm
            {
                Steer(0);       //舵机回正
                run = 1;        //继续前进
            }
            else
            {
                Steer(-90);     //舵机调整角度
                DelayMs(1000);
                MeasureDistance();
                if(distance > 30)
                {
                    Steer(0);
                    run = 1;
                }
                else
                {
                    run = 0;
                    stop = 1;
                }
            }
        }
        else if(infrared4 == infrared[3]) //右侧有黑线
        {
            Steer(-45);             //调整舵机角度
            DelayMs(500);
            MeasureDistance();      //重新测量距离
            if(distance > 30)       //距离大于30cm
            {
                Steer(0);           //舵机回正
                run = 1;            //继续前进
            }
            else
            {
                Steer(90);          //舵机调整角度
                DelayMs(1000);
                MeasureDistance();
                if(distance > 30)
                {
                    Steer(0);
                    run = 1;
                }
                else
                {
                    run = 0;
                    stop = 1;
                }
            }
        }
        else if(infrared3 == infrared[2]) //左侧有黑线
        {
            Steer(45);              //调整舵机角度
            DelayMs(500);
            MeasureDistance();      //重新测量距离
            if(distance > 30)       //距离大于30cm
            {
                Steer(0);           //舵机回正
                run = 1;            //继续前进
            }
            else
            {
                Steer(-90);         //舵机调整角度
                DelayMs(1000);
                MeasureDistance();
                if(distance > 30)
                {
                    Steer(0);
                    run = 1;
                }
                else
                {
                    run = 0;
                    stop = 1;
                }
            }
        }
        else                            //其他情况
        {
            run = 1;                    //继续前进
            stop = 0;
        }
    }
}

void Uart() interrupt 4 using 1     //串口中断服务函数
{
    if(RI)
    {
        RI = 0;
    }
    if(TI)
    {
        TI = 0;
    }
}

这段代码实现了超声波测距和舵机控制，以及红外寻迹功能，可以通过串口与上位机进行通信，方便调试和控制。其中，通过不同的红外传感器值来判断是否在黑线上，通过舵机转动角度来调整方向，通过超声波测距来避障。