51单片机循迹超声波避障小车基础代码

好的，下面是一个简单的51单片机循迹和超声波避障小车的示例代码。这个示例代码包括循迹传感器和超声波传感器的初始化以及基本的避障逻辑。

#include <reg51.h>
#include <stdio.h>

// 定义循迹传感器引脚
#define TRACK_LEFT P1_0
#define TRACK_CENTER P1_1
#define TRACK_RIGHT P1_2

// 定义电机控制引脚
#define MOTOR_LEFT_FORWARD P2_0
#define MOTOR_LEFT_BACKWARD P2_1
#define MOTOR_RIGHT_FORWARD P2_2
#define MOTOR_RIGHT_BACKWARD P2_3

// 定义超声波传感器引脚
#define TRIG P3_0
#define ECHO P3_1

// 延时函数
void delay(unsigned int ms) {
    unsigned int i, j;
    for (i = 0; i < ms; i++)
        for (j = 0; j < 120; j++);
}

// 初始化函数
void init() {
    // 初始化循迹传感器引脚
    TRACK_LEFT = 1;
    TRACK_CENTER = 1;
    TRACK_RIGHT = 1;

    // 初始化电机控制引脚
    MOTOR_LEFT_FORWARD = 0;
    MOTOR_LEFT_BACKWARD = 0;
    MOTOR_RIGHT_FORWARD = 0;
    MOTOR_RIGHT_BACKWARD = 0;

    // 初始化超声波传感器引脚
    TRIG = 0;
}

// 超声波测距函数
unsigned int getDistance() {
    unsigned int distance;
    unsigned long time;

    TRIG = 1;
    delay(1);
    TRIG = 0;

    while (!ECHO);
    while (ECHO) {
        time++;
    }

    distance = time / 58;
    return distance;
}

// 循迹函数
void track() {
    if (TRACK_CENTER == 0) {
        MOTOR_LEFT_FORWARD = 1;
        MOTOR_LEFT_BACKWARD = 0;
        MOTOR_RIGHT_FORWARD = 1;
        MOTOR_RIGHT_BACKWARD = 0;
    } else if (TRACK_LEFT == 0) {
        MOTOR_LEFT_FORWARD = 0;
        MOTOR_LEFT_BACKWARD = 1;
        MOTOR_RIGHT_FORWARD = 1;
        MOTOR_RIGHT_BACKWARD = 0;
    } else if (TRACK_RIGHT == 0) {
        MOTOR_LEFT_FORWARD = 1;
        MOTOR_LEFT_BACKWARD = 0;
        MOTOR_RIGHT_FORWARD = 0;
        MOTOR_RIGHT_BACKWARD = 1;
    } else {
        MOTOR_LEFT_FORWARD = 0;
        MOTOR_LEFT_BACKWARD = 0;
        MOTOR_RIGHT_FORWARD = 0;
        MOTOR_RIGHT_BACKWARD = 0;
    }
}

// 主函数
void main() {
    init();

    while (1) {
        unsigned int distance = getDistance();
        if (distance < 20) {
            MOTOR_LEFT_FORWARD = 0;
            MOTOR_LEFT_BACKWARD = 1;
            MOTOR_RIGHT_FORWARD = 0;
            MOTOR_RIGHT_BACKWARD = 1;
            delay(1000);
        } else {
            track();
        }
    }
}

这个代码实现了基本的循迹和超声波避障功能。循迹传感器用于检测线路，超声波传感器用于检测前方障碍物。当前方有障碍物时，小车会进行避障动作。