51单片机机器人行走程序

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//º¯ÊýÃû³Æ£º void walk(uchar setp)

//º¯Êý˵Ã÷£ºÇ°½ø×Ó³ÌÐò

//Èë¿Ú²ÎÊý£ºstep, ±íʾǰ½øµÄ²½Êý

//³ö¿Ú²ÎÊý£ºÎÞ

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void walk(uchar setp)

{

uchar i;

//mp3_send(0x00,0x00,30);

sit_down(50);

delay500ms(1);

//̧ÓÒÍÈ°ë²½×Ó³ÌÐò

left_cs(12); //×ó²àÉí

right_up(10); //̧ÓÒÍÈ

right_forward(15); //ÂõÓÒÍÈ

right_down(10); //·ÅÓÒÍÈ

right_cs(12); //ÓÒ²àÉí

//Ç°½øÑ­»·

for(i=0;i

{ mp3_send(0x00,0x00,0x02);

right_cs(12); //ÓÒ²àÉí

left_up(10); //̧×óÍÈ

left_forward(30); //Âõ×óÍÈ

left_down(10); //·Å×óÍÈ

left_cs(12); //×ó²àÉí

left_cs(12); //×ó²àÉí

right_up(10); //̧ÓÒÍÈ

right_forward(30); //ÂõÓÒÍÈ

right_down(10); //·ÅÓÒÍÈ

right_cs(12); //ÓÒ²àÉí

right_cs(12); //ÓÒ²àÉí

left_up(10); //̧×óÍÈ

left_forward(30); //Âõ×óÍÈ

left_down(10); //·Å×óÍÈ

left_cs(12); //×ó²àÉí

left_cs(12); //×ó²àÉí

right_up(10); //̧ÓÒÍÈ

right_forward(30); //ÂõÓÒÍÈ

right_down(10); //·ÅÓÒÍÈ

right_cs(12); //ÓÒ²àÉí

}

//̧×óÍÈ°ë²½×Ó³ÌÐò

right_cs(12); //ÓÒ²àÉí

left_up(10); //̧×óÍÈ

left_forward(15); //Âõ×óÍÈ

left_down(10); //·Å×óÍÈ

left_cs(12); //×ó²àÉí

stand_up(50);

}

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