#include <reg52.h>

sbit LED1=P2^7;//大灯 0亮
sbit LED2=P2^2;

sbit LF1=P0^2;//左前电机
sbit LF2=P0^3;
sbit RF1=P0^4;//右前电机
sbit RF2=P0^5;
sbit LB2=P0^0;//左后电机
sbit LB1=P0^1;
sbit RB1=P0^6;//右后电机
sbit RB2=P0^7;

sbit XJ1  = P2^4;//右边红外传感器的数据口
sbit XJ2  = P2^5;//左边红外传感器的数据口

sbit BZ1=P2^3;//左右避障传感器数据口
sbit BZ2=P2^6;

unsigned char zkb1 = 0;//定义了一下左边两个轮的占空比
unsigned char zkb2 = 0;//定义了一下右边两个轮的占空比
int t = 0;

void delayms(unsigned int ms)
{
	unsigned char i=100,j;
	for(;ms;ms--)
	{
		while(--i)
		{
			j=10;
			while(--j);
		}
	}
}

void PIT_Init()
{
 	EA    = 1;
	TMOD |= 0x01;
	TH0   = (65536 - 200) / 256;
	TL0   = (65536 - 200) % 256;
	ET0   = 1;
	TR0   = 1;
}

void timer()interrupt 1
{
  TH0 = (65536-200)/256;
	TL0 = (65536-200)%256;
	
  if(t<zkb1)
	{
	   	LF1=0;
		LF2=1;
		LB1=0;
		LB2=1;
	}
  else
	{
	  	LF1=0;
		LF2=0;
		LB1=0;
		LB2=0;
	}
	
	if(t<zkb2)
	{
		RF1=0;
		RF2=1;
		RB1=0;
		RB2=1;
	}
  else
		
	{
	  	RF1=0;
		RF2=0;
		RB1=0;
		RB2=0;
	}
	
	t = (t + 1) %50;
}

void run()		//跑直线
{
	zkb1=7;
	zkb2=7;
}

void right()
{
	zkb1=12;
	zkb2=0;
	
}
void left()
{
	zkb1=0;
	zkb2=12;
}
void stop()
{
	zkb1=0;
	zkb2=0;
}
void delay(unsigned int k)
{
  unsigned int x,y;
  for(x=0;x<k;x++)
  {
   for(y=0;y<200;y++);
  }
}
void xunji()
{
	unsigned char flag;
    if((XJ1==1)&&(XJ2==0))
    {
	   flag = 0;//左边检测到黑线
    }
    else if((XJ1==0)&&(XJ2==1))
    {
		flag = 1;//右边检测到黑线
	}
    else if((XJ1==1)&&(XJ2==1))
	{
		flag = 3;
	}
		else
	{
		 flag = 4;
	}
	if((BZ1==0)||(BZ2==0))
	{
		flag = 5;
	}
		switch(flag)
	{
		case 0:  right();delay(5);stop();LED1=1;LED2=0;delay(5);break;
		case 1:  left();delay(5);stop(); LED1=0;LED2=1;delay(5);break;
		case 3:  run();delay(1);stop(); LED1=1;LED2=1; delay(1);break;
		case 4:  run();delay(1);stop(); LED1=1;LED2=1; delay(1);break;
		case 5:	 stop();delay(5);break;
		default: run();delay(5);stop(); LED1=1;LED2=1; delay(11);break;
	}
}



void main()
{
	PIT_Init();
	LED1=0;
	LED2=0;
	while(1)
	{
		xunji();
	}
	
}