51单片机小车Demo

#include <REGX52.H>
#include <INTRINS.H>
#include "app/Timer0.h"

sbit left_lun_1 = P0^2;
sbit left_lun_2 = P0^3;
sbit right_lun_1 = P0^0;
sbit right_lun_2 = P0^1;

unsigned char SBUFs,DIAN_state;

void UART_init(){ //9600bps@11.0592MHz
	SCON = 0x50;
	PCON |= 0x80;
	TMOD |= 0x20;    //设置定时器模式

	TL1 = 0xFA;    //设定定时初值
	TH1 = 0xFA;    //设定定时初值

	ES = 1; //开启接受
	EA = 1;

	ET1 = 0;
	TR1 = 1;    //定时器1开始计时
}

void main (){
	UART_init(); //初始化定时器1
	Timer0Init(); //初始化定时器0
	left_lun_1 = 0;left_lun_2 = 0;right_lun_1 = 0;right_lun_2 = 0; //默认状态
	
	while(1){
		
	}
}

void Delay1000us()		//@11.0592MHz
{
	unsigned char i, j;

	_nop_();
	_nop_();
	i = 200;
	j = 105;
	do
	{
		while (--j);
	} while (--i);
}


void UART_Routine() interrupt 4
{
	RI = 0;
	//SBUF为接受到的信息
	SBUFs = SBUF;
}
	
void Timer0_Routine() interrupt 1
{
	static unsigned int T0Count;
	TL0 = 0x18;		//设置定时初值
	TH0 = 0xFC;		//设置定时初值
	T0Count++;
	if(T0Count >= 1000)T0Count = 0;
	
	if(SBUFs == 0x00){
		//停止
		left_lun_1 = 0;left_lun_2 = 0;right_lun_1 = 0;right_lun_2 = 0;
		DIAN_state = 0;
	}
	
	if(SBUFs == 0xFF){
		//取消转弯
		if(DIAN_state == 0) SBUFs = 0x00;
		if(DIAN_state == 1) SBUFs = 0x01;
		if(DIAN_state == 2) SBUFs = 0x02;
	}
	
	if(SBUFs == 0x01){
		//前进
		left_lun_1 = 0;left_lun_2 = 1;right_lun_1 = 0;right_lun_2 = 1;
		DIAN_state = 1;
	}
	
	if(SBUFs == 0x02){
		//后退
		left_lun_1 = 1;left_lun_2 = 0;right_lun_1 = 1;right_lun_2 = 0;
		DIAN_state = 2;
	}
	if(SBUFs == 0x03){
		//转弯 左
		right_lun_1 = 0;right_lun_2 = 1;
		if(DIAN_state == 1){
			if(T0Count >=	4){
				T0Count = 0;
				left_lun_1 = 0;left_lun_2 = 1;
			}else{
				left_lun_1 = 0;left_lun_2 = 0;
			}
		}else if(DIAN_state == 2){
			if(T0Count >= 4){
				T0Count = 0;
				right_lun_1 = 1;right_lun_2 = 0;
			}else{
				right_lun_1 = 0;right_lun_2 = 0;
			}
		}
	}
	if(SBUFs == 0x04){
		//转弯 右
		left_lun_1 = 0;left_lun_2 = 1;
		if(DIAN_state == 1){
			if(T0Count >=	4){
				T0Count = 0;
				right_lun_1 = 0;right_lun_2 = 1;
			}else{
				right_lun_1 = 0;right_lun_2 = 0;
			}
		}else if(DIAN_state == 2){
			if(T0Count >= 4){
				T0Count = 0;
				left_lun_1 = 1;left_lun_2 = 0;
			}else{
				left_lun_1 = 0;left_lun_2 = 0;
			}
		}
	}
}

P0口接了四个电机，0-3接口接两个电机，另外两个共享电源
前面调用了定时器0的void