#include<reg52.h>#include"1602.h"#include<intrins.h>#defineuintunsignedintsbitss2=P2^1;sbitss3=P2^2;sbitss4=P2^3;sbitss5=P2^4;sbithuo=P1^5;voidmain(){inti=0;init();while(1){P3=0xf5;//循迹直走if(ss2==ss3==ss4==ss5==0)P3=0xf5;if(ss5==0){i++;delay(150);if(i==5|i==17|i==29)//检测纵向线掉头（右转180度）{P3=0xf5;delay(1500);P3=0xf6;delay(2000);}if(i==10|i==22)//结束纵向检测开始横向检测（右转90度）{P3=0xf5;delay(1150);P3=0xf9;delay(1100);}if(i==12|i==24)//结束横向检测开始检测纵向（右转90度）{P3=0xf5;delay(300);P3=0xf9;delay(1100);}if(i==34)//结束纵向第三条线（左转90度）准备回家{P3=0xf5;delay(1000);P3=0xf6;delay(1000);}if(i==38){P3=0xf5;delay(800);P3=0xf6;delay(1050);P3=0xff;while(1);}}if(ss3==0)P3=0xf5;if(ss2==0)P3=0xf4;if(ss4==0)P3=0xf1;if(huo==0)//灭火{sheng1=0;sheng2=1;P3=0xf0;delay(800);P3=0xf9;delay(1000);P3=0xf0;delay(500);feng1=1;feng2=0;delay(2000);feng1=0;feng2=0;sheng1=0;sheng2=0;delay(500);P3=0xf6;delay(1000);}}}