最近在学习关于51单片机控制智能小车的程序，学习了很多大佬优秀的代码和思路

受到了一些启发，决定按自己的逻辑尝试一下关于红外避障+超声波避障的程序

经过实际测试，当PWM在50%左右，效果还行，但当全速前进时效果不是很理想

代码还有待改进，有些地方逻辑比较混乱，单纯只是为了能跑通，有待优化

先记录一下，毕竟也花了不少时间来写和调试

#include<reg52.H>
#include "test2.h"
#include <stdlib.h>


sbit P22 = P2^2;
sbit P23 = P2^3;
sbit P24 = P2^4;

sbit TRIG = P2^1;
sbit ECHO = P2^0;

sbit left_zhangai = P3^4;
sbit right_zhangai = P3^5;

unsigned char flag = 0;



unsigned char i;
unsigned int out_TH0, out_TL0, distance;


void left_bizhang()
{
        
        for (i = 0; i < 30; i++)  //90 = 90׈
        {
                car_left_backward();
        }     
}

void right_bizhang()
{

        for (i = 0; i < 30; i++)  //90 = 90׈
        {
                car_right_backward();
        }    
}

void all_bizhang()
{

        for (i = 0; i < 30; i++)  //90 = 90׈
        {
                car_right_backward();
        }   
}

void back_bizhang()
{

        for (i = 0; i < 10; i++)
                car_straight_backward();
        for (i = 0; i < 10; i++)
                car_left_backward();
}

void init_time()
{
    TMOD = 0x11; //启动0 1两个定时器
    TH0 = 0; 
    TL0 = 0;
    TR0 = 0;
        
        TR1 = 0;
        TH1 = 238;
        TL1 = 0;

        TF0 = 0; //中断溢出标志位
        TF1 = 1;
        ET0 = 1; 
        ET1 = 1;
        EA = 1; 
}


void run()
{
        P22 = 1;
        P24 = 1;
        left_zhangai = 1;
        right_zhangai = 1;
        TRIG = 0; // 先给控制端初始化为0
        
        car_straight_forward_per50();
        distance = 100;
        while(1)
        {

                /////////////////////////////
                label:
                if (left_zhangai == 1&&right_zhangai == 1)
                {
                    car_straight_forward_per50();
                }
                else
                {
                        if (left_zhangai == 0&&right_zhangai == 0)
                        {
                                all_bizhang();    
                        }
                        if (right_zhangai == 0&&left_zhangai == 1)
                        {
                                right_bizhang();
                        }
                        if (left_zhangai == 0&&right_zhangai == 1)
                        {
                                left_bizhang();
                        }
                }
                
            init_time(); //初始化定时器
            flag = 0;    //置溢出标志位为0
            //控制口发一个10US 以上的高电平
            TRIG = 1; 
            TR1 = 1;    //启动定时器1            
            delay_10um(2);
            TRIG = 0;
 
                //等待接收端出现高电平
            while(!ECHO)
            {
                if (TH1 == 0)
                {
                    distance = 200;
                    goto label;
                }
            };
            TR0 = 1; //启动计时器 开始计时
            while(ECHO)
            {
                if (TH1 == 0)
                {      
                    distance = 200;
                    goto label;
                }
            };                   //等待高电平结束
            TR0 = 0;                //关闭低电平
            out_TH0 = TH0;            //取定时器的值
            out_TL0 = TL0;
            distance = (TH0*256 + TL0)*1.7/100;
            
            if (flag == 1)
            {
                flag = 0;
            }
            else if (distance >= 200)
            {
                car_straight_forward_per50();
            }
            
            else if (distance <= 10)
            {
                back_bizhang();
            }
            else if (distance <= 20)
            {
                all_bizhang();
            } 
            /////////////////////////////////////////
        }
}
void timer0() interrupt 1 //中断函数
{
    flag=1; //溢出标志位置1
}