#include <reg52.h>
#define uchar unsigned char
#define ulong unsigned long
#define uint unsigned int
#include "irda.c"
uchar time_long;
ulong time_count;
sbit mo_en=P3^5;
//-------------------------------------------------------------------------------------------------
void delay(uint t)         /*延時子程序*/
{while(t--);
}
/*----------------------------------------------------------------------*/
void int0_srv(void)interrupt 0 using 3
{
	Regist_Value=time_long;
	int0_flg=0;
	time_long=0;
	
}
//-------------------------------------------------
void T0_interrupt (void) interrupt 1 using 1 
{   
	TH0=0xff;
	TL0=0xdc;
	time_long++;
}
/*-------------------------------------------------------------------------*/
void mo_driver(uchar zkb,ulong time,uchar mo)                             
{   mo&=0x0f;  P1=mo;                                      
for(;time;time--)
    {mo_en=1;      
	 delay(50);
     mo_en=0;
	 delay(zkb);     
	}
    mo_en=0;
}
//--------------------------------------------------------------------------
void init(void)
{
    TMOD=0x11;
	TH0=0xff;
	TL0=0xf6;
	EA=1;
	ET0=1;
	IT0=1;
	PT0=0;
	EX0=1;
	TR0=1;
	PX0=1;

	TH1=0x4b;
	TL1=0xff;
	ET1=1;
	//TR1=1;
	PT1=0;
}
/*-------------------------------------------------------------------------*/
                                                      //前進
void qianjing(uchar shudu,ulong time)
{
     mo_driver(shudu,time,0x0a);
}
//------------------------------------------------------------
                                                    //后退
void houtui(uchar shudu,ulong time)
{
     mo_driver(shudu,time,0x05);
}
//-----------------------------------------------------------
                                                  //左傳
void t_left(uchar shudu,ulong time)
{
     mo_driver(shudu,time,0x09); 
}
//-----------------------------------------------------------
void t_right(uchar shudu,ulong time)              //右轉
{
     mo_driver(shudu,time,0x06); 
}
/*-------------------------------------------------------------------------*/
void main (void)
{
 uchar mode=0;
 uchar dta_irda=0;
 init(); 
//---------------------------------------
    for(;;)
	{
	       dta_irda=irda();
           if(dta_irda)
	        {			
                 switch(dta_irda)
	             {
                   case 182:houtui(10,300)  ;break;
				   case 188:qianjing(10,300);break;
				   case 190:t_left(0,150);  break;
				   case 186:t_right(0,150); break;
				   //-------------------------------------
				   case 132:houtui(0,150);break;
				   case 164:qianjing(0,150);break;
                   //-------------------------------------
	             } 
				     dta_irda=0;
			}                  
				 //-----------------------------------
		      mode=0;		         
    }//對應for(;;)
}