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下面是程序預(yù)覽：
#include
sbit P00=P0^0; //循跡口
sbit P01=P0^1;
sbit P02=P0^2;

sbit P04=P0^4; //電機(jī)1左輪
sbit P05=P0^5;

sbit P06=P0^6; //電機(jī)2
sbit P07=P0^7;
unsigned int i=0,j=0;
void main()
{
while(1)
{
P04=1;P05=1;P06=1; P07=1;
TMOD=0X01;
EA=1;
ET0=1;

if(P00==0&&P01==1&&P02==0) // 小車直走 定時(shí)0.002ms
{
TH0=0XFF; //定時(shí)0.01ms
TL0=0xFe;
TR0=1;
}
if(P00==0&&P01==0&&P02==1) //小車右轉(zhuǎn)定時(shí)0.005ms
{
TH0=0XFF;
TL0=0Xfb;
TR0=1;
}
if(P00==1&&P01==0&&P02==0) //小車左轉(zhuǎn)定時(shí)0.005ms
{
TH0=0XFF;
TL0=0XFb;
TR0=1;
}
if(P00==1&&P01==1&&P02==1) //全部檢測到黑線時(shí) 車停
{
TH0=0XFF;
TL0=0Xfb;
TR0=1; }
}
}

xiong() interrupt 1
{
if(P00==0&&P01==1&&P02==0) //小車直線快走 定時(shí)0.002ms
{
TH0=0XFF;
TL0=0xFe;

P04=0;//電機(jī)1左輪
P05=1;
P06=1; //電機(jī)2 右轉(zhuǎn)
P07=0;
}

if(P00==0&&P01==0&&P02==1) //小車右轉(zhuǎn)定時(shí)0.005ms
{

TH0=0XFF;
TL0=0Xfb;

P04=1;//電機(jī)1 左輪
P05=1;
P06=1; //電機(jī)2
P07=0;
i=1;
}
if(P00==0&&P01==0&&P02==0&&i==1) // 特別
{TH0=0XFF;
TL0=0Xfb;
P04=1;
P05=1;
P06=1;
P07=0;
j=0;
}

if(P00==1&&P01==0&&P02==0) //小車左轉(zhuǎn)定時(shí)0.005ms
{
TH0=0XFF;
TL0=0XFb;
P04=0;//電機(jī)1
P05=1;

P06=1; //電機(jī)2
P07=1;
j=1;
}
if(P00==0&&P01==0&&P02==0&&j==1) // 特別
{ TH0=0XFF;
TL0=0Xfb;
P04=0;
P05=1;
P06=1;
P07=1;
i=0;
}
if(P00==1&&P01==1&&P02==1)
{ //全部檢測到黑線時(shí) 車停
TH0=0XFF;
TL0=0Xfb;
P04=1;
P05=1;
P06=1;
P07=1;}
}