程序（寻迹 停车）.rar

#include "STC12C5A60S2.H" #include "PWM_TIME.h" #include "uart.h" #include "delay.h" #include "AD.h" #include "scope.h" #include "stdio.h" sbit DUOJI = P1^0; sbit PWM_z_q = P2^0; sbit PWM_z_h = P2^1; sbit PWM_y_q = P2^2; sbit PWM_y_h = P2^3; sbit GAN = P0^0; #define uchar unsigned char #define uint unsigned int int GetAD_value[4]={0}; int PWM_DUO; int flag=0; int count=0; int main(void) { PWM_DUO=YOU; Init_ADC(); Time_Init(); UartInit(); while(1) { GetAD_value[0]=GetADCResult(1); GetAD_value[1]=GetADCResult(2); GetAD_value[2]=GetADCResult(3); #if 1 //OutPut_Data(GetAD_value); SendData(count); #endif if(GetAD_value[1]>120||(GetAD_value[1]-GetAD_value[0]>50)||(GetAD_value[1]-GetAD_value[2]>50)) { PWM_DUO=MIDDLE; } if(GetAD_value[0]>GetAD_value[2]) { PWM_DUO=ZUO; if(GetAD_value[1]>120||(GetAD_value[1]-GetAD_value[0]>50)||(GetAD_value[1]-GetAD_value[2]>50)) { PWM_DUO=MIDDLE; } } if(GetAD_value[2]>GetAD_value[0]) { PWM_DUO=YOU+2; PWM_y_h = 0; Delay1ms(50); PWM_y_q = 1; if(GetAD_value[1]>120||(GetAD_value[1]-GetAD_value[0]>50)||(GetAD_value[1]-GetAD_value[2]>50)) { PWM_DUO=MIDDLE; } } if (GAN == 0) { count++; } if ((count>=1) && (GAN != 0)) { flag=1; } if (flag==1) { if (GAN==0) { PWM_z_q = 0; PWM_z_h = 0; PWM_y_q = 0; PWM_y_h = 0; Delay1ms(10000); } } PWM_z_q = 1; PWM_z_h = 0; PWM_y_q = 1; PWM_y_h = 0; } }