超声波直流备份超声波直流备份#includetypedef unsigned char uchar;typedef unsigned int uint;sbit motor_R = P01;sbit umotor_R = P02;sbit motor_L = P03;sbit umotor_L = P04;sbit LED = P11;uchar timeH; uchar timeL; uchar succeed_flag = 1;uint distance;uint time;uchar n = 0;uchar m = 0;sbit Trig = P00;sbit Echo = P32;uchar right = 0,left = 0;/uchar code table1=0x03,0x06,0x0c,0x09; /正转表/uchar code table2=0x03,0x09,0x0c,0x06; /反转表void delay_20us() uchar a ;for(a=0;a0;x-)for(y=1100;y0;y-);void Delay() /软件延时函数(100ms)uchar i,j; for(i=0;i= 4)first = first;left = 0;Motor_L();Motor_L();Motor_L();Motor_L();turn_right();if(!first)turn_right();if(right = 4)first = first;right = 0;UMotor_L();UMotor_L();go_back();elseGO_ahead();left = 0;right = 0;if(succeed_flag=0)for(n;n 5)m = 0;for(n;n6;n+)LED = LED;Delay();Delay();Delay();Delay();Delay();n = 0;