51單片機小車只有3個輪子能動，有一個動不了

ID:1164343 · 發表于 2025-12-5 21:21

代碼如下
#include <REGX52.H>

sbit PWML = P1^0;
sbit AIN1 = P1^1;
sbit AIN2 = P1^2;
sbit PWMR = P1^3;
sbit BIN1 = P1^4;
sbit BIN2 = P1^5;
sbit IR = P3^0;

sbit BPWMA = P0^0;
sbit BAIN2 = P0^1;
sbit BAIN1 = P0^2;
sbit BBIN1 = P0^3;
sbit BBIN2 = P0^4;
sbit BPWMB = P0^5;

void pwm_set(unsigned char dutyL, unsigned char dutyR)
{
unsigned char i;
for(i = 0; i < 100; i++)
{

      PWML = (i < dutyL);
      PWMR = (i < dutyR);


      BPWMA = (i < dutyL);
      BPWMB = (i < dutyR);
}
}

void forward(unsigned char speed)
{

AIN1 = 1;
AIN2 = 0;
BIN1 = 1;
BIN2 = 0;

BAIN1 = 1;
BAIN2 = 0;
BBIN1 = 1;
BBIN2 = 0;

pwm_set(speed, speed);
}

void stop(void)
{

AIN1 = 0;
AIN2 = 0;
BIN1 = 0;
BIN2 = 0;

BAIN1 = 0;
BAIN2 = 0;
BBIN1 = 0;
BBIN2 = 0;

PWML = 0;
PWMR = 0;
BPWMA = 0;
BPWMB = 0;
}

void main()
{

stop();

while(1)
{

      if(IR == 0)
      {
         stop();
      }
      else
      {
         forward(70);
      }
}
}
只有那個BAIN1和BAIN2的輪子有問題