xunji01

#include
typedef unsigned int u16;
typedef unsigned char u8;




sbit ENB = P1^7;   //左电机使能
sbit IN1 = P1^6;   //为0左轮反转
sbit IN2 = P1^5;   //为0左轮正转

sbit IN3 = P1^3;   //为0右轮反转
sbit IN4 = P1^4;   //为0右轮正转
sbit ENA = P1^2;   //右点机使能

sbit BEEP=P1^0;

//left1,left2,right1,right2
//P22		P23 P24		P25
sbit MidLeft=P2^0;
sbit MidRight=P2^1;
sbit left1 = P2^2;
sbit left2 = P2^3;
sbit right1 = P2^4;
sbit right2 = P2^5;

u8 PWMCnt1 = 0;
u8 PWMCnt2 = 0;
u8 cntPWM1 = 0;
u8 cntPWM2 = 0;

u8 timeflag=0;
u8 turn90Flag=0;
//定时器0产生PWM，并且测速，测位移，定时器1，产生波特率
void Timer0Init();//定时器0产生PWM
void XunJi();
void TurnRight1()	;	   //右转，左轮速度快，速度差这里设置70-55
void TurnRight2()	;	   //右转
void TurnLeft1();				//左转
void TurnLeft2();				//左转
void Backward();				 //后退
void Stop();					  //停止
void Forward();
void delayms(unsigned int tms)
{
	unsigned int i,j;
	for(i=0;i<100;i++)
	{
		for(j=0;j= 200)//50us*200=10 000us=10ms
	{
		PWMCnt1 = 0;
	}
	if(PWMCnt1 <= cntPWM1)
	{
		ENA = 1;
	}
	else
	{
		ENA = 0;
	}

	if(PWMCnt2 >= 200)
	{
		PWMCnt2 = 0;
	}
	if(PWMCnt2 <= cntPWM2)
	{
		ENB = 1;
	}
	else
	{
		ENB = 0;
	}

//	TH0 = (65536 - 50)/256;//50us
//	TL0 = (65536 - 50)%256;
	TH0 = 0xFF;//等价于上面的两行，减小计算量
	TL0 = 0xA3;
}