C51--摇头测距小车

摇头测距小车——舵机和超声波封装

#include "reg52.h"#include "HC04.h"
#include "Delay.h"
#include "sg90.h"
#include "motor.h"#define MIDDLE 0
#define LEFT   1
#define RIGHT  2void main()
{char dir;double disMiddle;//距离double disLeft;double disRight;Time0Init();//定时器0初始化Time1Init();//定时器1初始化sg_Middle();			//正前方Delay300ms();Delay300ms();dir = MIDDLE;while(1){if(dir != MIDDLE){sg_Middle();			//正前方dir = MIDDLE;Delay300ms();}disMiddle = get_distance();//超声波测距if(disMiddle > 35){					//前进go_Forward();}else{		//停止，摇头左边测距go_Stop();sg_Left();				//左边Delay300ms();disLeft = get_distance();sg_Middle();			//正前方Delay300ms();sg_Right();				//右边dir = RIGHT;Delay300ms();disRight = get_distance();if(disLeft < disRight){//测距左边小，向右转go_Right();Delay150ms();go_Stop();}if(disRight < disLeft){//测距右边小，向左转go_Left();Delay150ms();go_Stop();}}}} 

调试：正面距离过小的时候让小车向后退

加入一个判断即可

		if(disMiddle < 10){					//后退go_Back();