89C52单片机红外循迹小车Keil程序：中断控制PWM调速

#include<AT89X52.h>

#include<BoeBot.h>    
#include<uart.h>
#include<intrins.h>
sbit pwma=P1^4;
sbit pwmb=P1^5;
#define LeftIR       P2_3   //¡Á¨®¡À?o¨¬¨ªa?¨®¨º?¨¢??¨®¦Ì?P2_3
#define RightIR  P2_4   //¨®¨°¡À?o¨¬¨ªa?¨®¨º?¨¢??¨®¦Ì?P2_4
#define LeftLaunch    P2_1   //¡Á¨®¡À?o¨¬¨ªa¡¤¡é¨¦?¨¢??¨®¦Ì?P2_1
#define RightLaunch   P2_2   //¨®¨°¡À?o¨¬¨ªa¡¤¡é¨¦?¨¢??¨®¦Ì?P2_2
#define MidIR  P2_6   //¨®¨°¡À?o¨¬¨ªa?¨®¨º?¨¢??¨®¦Ì?P2_4
#define MidLaunch    P2_5   //¡Á¨®¡À?o¨¬¨ªa¡¤¡é¨¦?¨¢??¨®¦Ì?P2_1

unsigned int PWMA=0;
unsigned int PWMB=0;
unsigned char time=0;


void Time0Init(void)
{
TMOD=0x01;
EA=1;
TH0 = 0XFF;
TL0 = 0X9c;
ET0 = 1;
TR0 = 1;
}

void IRLaunch(unsigned char IR)

{
  int counter;
  if(IR=='L')    //¡Á¨®o¨¬¨ªa¡¤¡é¨¦?
  for(counter=0;counter<80;counter++)  //80?a¡¤¡é¨¦??¨¹?¨²¡ä?¨ºy¡ê?3?¨°??¨¹?¨²?¨¦¦Ì?¦Ì?¡¤¡é¨¦?3?D?¨º¡À??3¡è?¨¨
    {
      LeftLaunch=1;    //?a¨º?¡¤¡é¨¦?o¨¬¨ªa1a
        delay_nus(15);    //3?D?15?¡é??
      LeftLaunch=0;    //¨ª¡ê?1¡¤¡é¨¦?o¨¬¨ªa1a
        delay_nus(15);    //3?D?15?¡é??¡ê?¨°????¨¹?¨²30?¡é??¡ê???o?33.3KHz¡ê?¨°?¡ä?¡¤¡é¨¦?3?D?2.4o¨¢??
    }
   if(IR=='R')    //¨®¨°o¨¬¨ªa¡¤¡é¨¦?
    for(counter=0;counter<80;counter++)
    {
       RightLaunch=1;
delay_nus(15);
       RightLaunch=0;
        delay_nus(15);
    }
if(IR=='M')//Mid launch
for(counter=0;counter<80;counter++)  //80?a¡¤¡é¨¦??¨¹?¨²¡ä?¨ºy¡ê?3?¨°??¨¹?¨²?¨¦¦Ì?¦Ì?¡¤¡é¨¦?3?D?¨º¡À??3¡è?¨¨
    {
      MidLaunch=1;    //?a¨º?¡¤¡é¨¦?o¨¬¨ªa1a
        delay_nus(15);    //3?D?15?¡é??
      MidLaunch=0;    //¨ª¡ê?1¡¤¡é¨¦?o¨¬¨ªa1a
        delay_nus(15);    //3?D?15?¡é??¡ê?¨°????¨¹?¨²30?¡é??¡ê???o?33.3KHz¡ê?¨°?¡ä?¡¤¡é¨¦?3?D?2.4o¨¢??
    }
}

void qianjin(void)
{  P1=0x05;