使用STC单片机实现智能小车避障功能的C语言例程：
#include <reg52.h>// 定义GPIO口映射宏，需根据具体型号和连接方式进行修改#define MOTOR_LEFT_PIN1 P2_0 // 左电机控制口1#define MOTOR_LEFT_PIN2 P2_1 // 左电机控制口2#define MOTOR_RIGHT_PIN1 P2_2 // 右电机控制口1#define MOTOR_RIGHT_PIN2 P2_3 // 右电机控制口2#define SENSOR_LEFT_PIN P3_0 // 左侧障碍传感器数据口#define SENSOR_MID_PIN P3_1 // 中间障碍传感器数据口#define SENSOR_RIGHT_PIN P3_2 // 右侧障碍传感器数据口// 定义电机控制宏#define MOTOR_STOP { MOTOR_LEFT_PIN1 = 0; MOTOR_LEFT_PIN2 = 0; \MOTOR_RIGHT_PIN1 = 0; MOTOR_RIGHT_PIN2 = 0; }#define MOTOR_FORWARD { MOTOR_LEFT_PIN1 = 1; MOTOR_LEFT_PIN2 = 0; \MOTOR_RIGHT_PIN1 = 1; MOTOR_RIGHT_PIN2 = 0; }#define MOTOR_BACKWARD { MOTOR_LEFT_PIN1 = 0; MOTOR_LEFT_PIN2 = 1; \MOTOR_RIGHT_PIN1 = 0; MOTOR_RIGHT_PIN2 = 1; }#define MOTOR_TURN_LEFT { MOTOR_LEFT_PIN1 = 0; MOTOR_LEFT_PIN2 = 1; \MOTOR_RIGHT_PIN1 = 1; MOTOR_RIGHT_PIN2 = 0; }#define MOTOR_TURN_RIGHT { MOTOR_LEFT_PIN1 = 1; MOTOR_LEFT_PIN2 = 0; \MOTOR_RIGHT_PIN1 = 0; MOTOR_RIGHT_PIN2 = 1; }// 延时函数void delay_ms(uint16_t ms){while (ms--){// 使用定时器或NOP指令实现延时}}// 障碍检测函数uint8_t obstacle_detect(void){if (SENSOR_MID_PIN){return 1;}else if (SENSOR_LEFT_PIN && SENSOR_RIGHT_PIN){return 1;}else{return 0;}}void main(void){// 初始化GPIO口MOTOR_STOP;SENSOR_LEFT_PIN = 0;SENSOR_MID_PIN = 0;SENSOR_RIGHT_PIN = 0;// 循环避障while (1){if (obstacle_detect()){MOTOR_BACKWARD;delay_ms(500);if (SENSOR_LEFT_PIN){MOTOR_TURN_RIGHT;delay_ms(1000);}else if (SENSOR_RIGHT_PIN){MOTOR_TURN_LEFT;delay_ms(1000);}else{MOTOR_TURN_LEFT;delay_ms(500);}}else{MOTOR_FORWARD;}}}
