迷宫小车思路，附带自己的成功代码及一副成功地图（51）
二维数组：用二维数组将坐标保存，如果芯片51则变量最多128个，故适用于地图范围在11*11之内。
暴力走：遇见岔路口默认方向左中右则暴力走出，适用于简单地图。
参加比赛建议暴力走，地图在赛前会给出，将硬件搞好即可，软件问题不大，选用模块建议超声波测距离，最好是4个，保证每一步的精确。车一定足够小，建议将芯片焊在板子上，大小最好在8*8以内，电池建议用蓄电池，298建议用12V，只要硬件好其他的都不是事。
千万不能按格走，很难保证精确度。
按格走代码如下，二维数组有些繁琐，地图长度为8*8；
#include<reg52.h>
#define u8 unsigned char
#define u16 unsigned int
sbit int1=P1^4;
sbit int2=P1^5;
sbit int3=P1^6;
sbit int4=P1^7;
sbit hongwai1=P3^5; //????
sbit hongwai2=P3^6; //????
sbit hongwai3=P3^7;
u8 ditu[8][8];
u8 ditu1[8];
u8 bushu;
char zuoyou,qianhou;
u8 fangxiang=1;
u8 chalukoushu;
u8 sihutong;
u8 zuoyoubian;
u8 qianhoubian;
u8 zuoyoubian1;
u8 qianhoubian1;
u8 duan[]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,
0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71,0x00};
void delay(u16 i)
{
while(i--);
}
void display()
{
u8 i,k;
k=zuoyou;
// k=ditu[0][0];
// k=ditu[0][0];
// for(i=0;i<2;i++)
// {
// switch(i)
// {
P0=duan[k];
//// case 1: P0= ~duan[k];break;
// }
// delay(50000);
// }
}
void tingzhi()
{
int1=0;
int2=0;
int3=0;
int4=0;
delay(50000);
delay(50000);
delay(50000);
}
void houtui()
{
int1=0;
int2=1;
int3=0;
int4=1;
delay(40000);
tingzhi();
bushu-=1;
}
void zuozhuan()
{
u16 i=20,j=0;
for(j=0;j<17000;j++)
{
int1=1;
int2=0;
int3=1;
int4=0;
}
i=17;
while(i--)
{
for(j=0;j<2000;j++)
{
int1=0;
int2=0;
int3=1;
int4=0;
}
}
for(j=0;j<23000;j++)
{
int1=1;
int2=0;
int3=1;
int4=0;
}
tingzhi();
bushu+=2;
}
void youzhuan()
{
u16 i=20,j=0;
for(j=0;j<17000;j++)
{
int1=1;
int2=0;
int3=1;
int4=0;
}
i=25;
while(i--)
{
for(j=0;j<2000;j++)
{
int1=1;
int2=0;
int3=0;
int4=0;
}
}
for(j=0;j<20000;j++)
{
int1=1;
int2=0;
int3=1;
int4=0;
}
tingzhi();
bushu+=2;
}
void qianjin()
{
int1=1;
int2=0;
int3=1;
int4=0;
delay(41000);
tingzhi();
bushu+=1;
}
void kaishidezhizou()
{
int1=1;
int2=0;
int3=1;
int4=0;
delay(50000);
delay(50000);
tingzhi();
}
void fanyouzhuan()
{
u16 i=20,j=0;
for(j=0;j<13000;j++)
{
int1=0;
int2=1;
int3=0;
int4=1;
}
i=24;
while(i--)
{
for(j=0;j<2000;j++)
{
int1=0;
int2=1;
int3=0;
int4=0;
}
}
for(j=0;j<23000;j++)
{
int1=0;
int2=1;
int3=0;
int4=1;
}
tingzhi();
bushu-=2;
}
void fanzuozhuan()
{
u16 i=20,j=0;
for(j=0;j<17000;j++)
{
int1=0;
int2=1;
int3=0;
int4=1;
}
i=20;
while(i--)
{
for(j=0;j<2000;j++)
{
int1=0;
int2=0;
int3=0;
int4=1;
}
}
for(j=0;j<23000;j++)
{
int1=0;
int2=1;
int3=0;
int4=1;
}
tingzhi();
bushu-=2;
}
void jilu()
{
if( ditu[zuoyou][qianhou]!=90)
{
ditu[zuoyou][qianhou]=1+bushu;
}
}
void panduan()
{
if(zuoyou+1>7)
{
zuoyoubian=1;
}
if(zuoyou==0)
{
zuoyoubian1=1;
}
if(qianhou+1>7)
{
qianhoubian=1;
}
if(qianhou==0)
{
qianhoubian1=1;
}
}
void main()//?????????,?????,???? ????????????д???
{
u8 lukoushu;//???????
u8 i,j; //??????????????????????????
zuoyou=0;
qianhou=0;
fangxiang=1;
chalukoushu=0;
sihutong=0;
while(hongwai3==0)
{
tingzhi(); //???
}
qianjin();//?????
bushu=2;
while(1)
{
lukoushu=0;
zuoyoubian=0;
qianhoubian=0;
zuoyoubian1=0;
qianhoubian1=0;
i=0;
j=0;
if(zuoyou==8)
{
zuoyou=0;
}
if(qianhou==8)
{
qianhou=0;
}
if(fangxiang==5)
{
fangxiang=1;
}
if(fangxiang==0)
{
fangxiang=4;
}
if(hongwai1==1)
{
i+=1;
}
if(hongwai2==1)
{
i+=1;
}
if(hongwai3==1)
{
i+=1;
}
// else if(i>=2&&sihutong==1) //????
// {
// chalukoushu-=1;
// }
panduan();
if(sihutong==1)
{
ditu[zuoyou][qianhou]=100;
if(fangxiang==1)
{
if(hongwai1==1&&ditu[zuoyou+zuoyoubian1*8-1][qianhou]==0)
{
lukoushu+=1;
}
if(hongwai2==1&&ditu[zuoyou+1-zuoyoubian*8][qianhou]==0)
{
lukoushu+=1;
}
if(hongwai3==1&&ditu[zuoyou][qianhou+1-qianhoubian*8]==0)
{
lukoushu+=1;
}
if(lukoushu>0)
{
sihutong=0;
}
else if(ditu[zuoyou+1-zuoyoubian*8][qianhou+qianhoubian1*8-1]==(bushu-1))
{
ditu[zuoyou][qianhou]=100;
fanyouzhuan();
// zuoyou+=1;
qianhou+=qianhoubian1*8; qianhou-=1;
qianjin();
ditu[zuoyou][qianhou]=100;
fangxiang=4;
}
else if(ditu[zuoyou+zuoyoubian1*8-1][qianhou+qianhoubian1*8-1]==(bushu-1))
{
ditu[zuoyou][qianhou]=100;
fanzuozhuan();
// zuoyou-=1;
qianjin();
qianhou+=qianhoubian1*8;
qianhou-=1;
ditu[zuoyou][qianhou]=100;
fangxiang=2;
}
else if(ditu[zuoyou][qianhou+qianhoubian1*8-1]==(bushu))//???
{
ditu[zuoyou][qianhou]=100;
houtui(); qianhou+=qianhoubian1*8;
qianhou-=1;
ditu[zuoyou][qianhou]=100;
}
}
else if(fangxiang==2)
{
if(hongwai1==1&&ditu[zuoyou][qianhou+1-qianhoubian*8]==0)
{
lukoushu+=1;
}
if(hongwai2==1&&ditu[zuoyou][qianhou+qianhoubian1*8-1]==0)
{
lukoushu+=1;
}
if(hongwai3==1&&ditu[zuoyou+1-zuoyoubian*8][qianhou]==0)
{
lukoushu+=1;
}
if(lukoushu>0)
{
sihutong=0;
}
else if(ditu[zuoyou+zuoyoubian1*8-1][qianhou+qianhoubian1*8-1]==(bushu-1))
{
ditu[zuoyou][qianhou]=100 ;
fanyouzhuan();
qianjin(); zuoyou+=zuoyoubian1*8;
zuoyou-=1;
ditu[zuoyou][qianhou]=100;
// qianhou-=1;
fangxiang=1;
}
else if(ditu[zuoyou+zuoyoubian1*8-1][qianhou+1-qianhoubian*8]==(bushu-1))
{
ditu[zuoyou][qianhou]=100;
fanzuozhuan();
qianjin(); zuoyou+=zuoyoubian1*8;
zuoyou-=1;
ditu[zuoyou][qianhou]=100;
// qianhou+=1;
fangxiang=3;
}
else if(ditu[zuoyou+zuoyoubian1*8-1][qianhou]==(bushu))
{
ditu[zuoyou][qianhou]=100;
houtui(); zuoyou+=zuoyoubian1*8;
zuoyou-=1;
ditu[zuoyou][qianhou]=100;
}
}
else if(fangxiang==3)
{
if(hongwai1==1&&ditu[zuoyou+1-zuoyoubian*8][qianhou]==0)
{
lukoushu+=1;
}
if(hongwai2==1&&ditu[zuoyou+zuoyoubian1*8-1][qianhou]==0)
{
lukoushu+=1;
}
if(hongwai3==1&&ditu[zuoyou][qianhou+qianhoubian1*8-1]==0)
{
lukoushu+=1;
}
if(lukoushu>0)
{
sihutong=0;
}
else if(ditu[zuoyou+1-zuoyoubian*8][qianhou+1-qianhoubian*8]==(bushu-1))
{
ditu[zuoyou][qianhou]=100 ;
fanzuozhuan();
qianjin();
// zuoyou+=1;
qianhou+=1;
qianhou-=qianhoubian*8; ditu[zuoyou][qianhou]=100;
fangxiang=4;
}
else if(ditu[zuoyou+zuoyoubian1*8-1][qianhou+1-qianhoubian*8]==(bushu-1))
{
ditu[zuoyou][qianhou]=100 ;
fanyouzhuan();
qianjin();
// zuoyou-=1;
qianhou+=1;
qianhou-=qianhoubian*8; ditu[zuoyou][qianhou]=100;
fangxiang=2;
}
else if(ditu[zuoyou][qianhou+1-qianhoubian*8]==(bushu))
{
ditu[zuoyou][qianhou]=100;
houtui();
qianhou+=1;
qianhou-=qianhoubian*8;
ditu[zuoyou][qianhou]=100;
}
}
else if(fangxiang==4)
{
if(hongwai1==1&&ditu[zuoyou][qianhou+qianhoubian1*8-1]==0)
{
lukoushu+=1;
}
if(hongwai2==1&&ditu[zuoyou][qianhou+1-qianhoubian*8]==0)
{
lukoushu+=1;
}
if(hongwai3==1&&ditu[zuoyou+zuoyoubian1*8-1][qianhou]==0)
{
lukoushu+=1;
}
if(lukoushu>0)
{
sihutong=0;
}
else if(ditu[zuoyou+1-zuoyoubian*8][qianhou+qianhoubian1*8-1]==(bushu-1))
{
ditu[zuoyou][qianhou]=100;
fanzuozhuan();
qianjin();
zuoyou+=1;
zuoyou-=zuoyoubian*8; ditu[zuoyou][qianhou]=100;
// qianhou+=1;
fangxiang=1;
}
else if(ditu[zuoyou+1-zuoyoubian*8][qianhou+1-qianhoubian1*8]==(bushu-1))
{
ditu[zuoyou][qianhou]=100;
fanyouzhuan();
zuoyou+=1;
zuoyou-=zuoyoubian*8;
qianjin(); ditu[zuoyou][qianhou]=100;
// qianhou-=1;
fangxiang=3;
}
else if(ditu[zuoyou+1-zuoyoubian*8][qianhou]==(bushu))
{
ditu[zuoyou][qianhou]=100;
houtui();
zuoyou+=1;
zuoyou-=zuoyoubian*8;
ditu[zuoyou][qianhou]=100;
}
}
}
else
{
if(fangxiang==1)
{
if((hongwai1==0||ditu[zuoyou-1+zuoyoubian1*8][qianhou]==100)&&(hongwai2==0||ditu[zuoyou+1-zuoyoubian*8][qianhou]==100)&&(hongwai3==0||ditu[zuoyou][qianhou+1-qianhoubian*8]==100))
{
sihutong=1;
}
if(hongwai1==1&&ditu[zuoyou+zuoyoubian1*8-1][qianhou]==0)
{
jilu();
houtui();
qianhou-=1;
jilu();
zuozhuan();
panduan();
zuoyou-=1;
qianhou+=1;
jilu();
fangxiang-=1;
}
else if(hongwai3==1&&ditu[zuoyou][qianhou+1-qianhoubian*8]==0)
{
if(qianhou==7)
{
qianjin();
tingzhi();
while(1);
}
jilu();
qianjin();
qianhou+=1;
jilu();
}
else if((hongwai2==1)&&((ditu[zuoyou+1-zuoyoubian*8][qianhou])==0))
{
jilu();
houtui();
qianhou-=1;
jilu();
panduan();
youzhuan();
zuoyou+=1;
qianhou+=1;
jilu();
fangxiang+=1;
}
}
else if(fangxiang==2)
{
if((hongwai1==0||ditu[zuoyou][qianhou+1-qianhoubian*8]==100)&&(hongwai2==0||ditu[zuoyou][qianhou+qianhoubian1*8-1]==100)&&(hongwai3==0||ditu[zuoyou+1-zuoyoubian*8][qianhou]==100))
{
sihutong=1;
}
/*if( ditu[zuoyou][qianhou]!=90)
{
ditu[zuoyou][qianhou]=1+bushu;
}*/
if(hongwai1==1&&ditu[zuoyou][qianhou+1-qianhoubian*8]==0)
{
if(qianhou==7)
{
houtui();
zuozhuan();
tingzhi();
while(1);
}
jilu();
houtui();
zuoyou-=1;
jilu();
zuozhuan();
panduan();
qianhou+=1;
zuoyou+=1;
jilu();
fangxiang-=1;
}
else if(hongwai3==1&&ditu[zuoyou+1-zuoyoubian*8][qianhou]==0)
{
jilu();
qianjin();
zuoyou+=1;
jilu();
}
else if(hongwai2==1&&ditu[zuoyou][qianhou+qianhoubian1*8-1]==0)
{
jilu();
houtui();
zuoyou-=1;
jilu();
youzhuan();
panduan();
qianhou-=1;
zuoyou+=1;
jilu();
fangxiang+=1;
}
}
else if(fangxiang==3)
{
if((hongwai1==0||ditu[zuoyou+1-zuoyoubian*8][qianhou]==100)&&(hongwai2==0||ditu[zuoyou+zuoyoubian1*8-1][qianhou]==100)&&(hongwai3==0||ditu[zuoyou][qianhou+qianhoubian1*8-1]==100))
{
sihutong=1;
}
if(hongwai1==1&&ditu[zuoyou+1-zuoyoubian*8][qianhou]==0)
{
jilu();
houtui();
qianhou+=1;
jilu();
panduan();
zuozhuan();
zuoyou+=1;
qianhou-=1;
jilu();
fangxiang-=1;
}
else if(hongwai3==1&&ditu[zuoyou][qianhou+qianhoubian1*8-1]==0)
{
jilu();
qianjin();
qianhou-=1;
jilu();
}
else if(hongwai2==1&&ditu[zuoyou+zuoyoubian1*8-1][qianhou]==0)
{
jilu();
houtui();
qianhou+=1;
jilu();
panduan();
youzhuan();
zuoyou-=1;
qianhou-=1;
jilu();
fangxiang+=1;
}
}
else if(fangxiang==4)
{
if((hongwai1==0||ditu[zuoyou][qianhou+qianhoubian1*8-1]==100)&&(hongwai2==0||ditu[zuoyou][qianhou+1-qianhoubian*8]==100)&&(hongwai3==0||ditu[zuoyou-+zuoyoubian1*81][qianhou]==100))
{
sihutong=1;
}
if(hongwai1==1&&ditu[zuoyou][qianhou+qianhoubian1*8-1]==0)
{
jilu();
houtui();
zuoyou+=1;
jilu();
panduan();
zuozhuan();
qianhou-=1;
zuoyou-=1;
jilu();
fangxiang-=1;
}
else if(hongwai3==1&&ditu[zuoyou+zuoyoubian1*8-1][qianhou]==0)
{
jilu();
qianjin();
zuoyou-=1;
jilu();
}
else if(hongwai2==1&&ditu[zuoyou][qianhou+1-qianhoubian*8]==0)
{
if(qianhou==7)
{
houtui();
youzhuan();
tingzhi();
while(1);
}
jilu();
houtui();
zuoyou+=1;
jilu();
panduan();
youzhuan();
qianhou+=1;
zuoyou-=1;
jilu();
fangxiang+=1;
}
}
}
}
}
