电磁循迹智能车避障功能

避障

int main()

{
unsigned int distance_value;
unsigned char distance_ascii[6];
unsigned char i;

/* 智能车初始化 */
car_init();

while(1)
    {
        AD_LVBO();
        l9110s_forward(left,1800-diff*2.85);
        l9110s_forward(right,1800+diff*2.85);


        distance_value = ultra_get_distance();            //超声波模块测距
        int_to_ascii(distance_value, distance_ascii);       //将测得距离转换为ascii码
        uart_send_distance_ascii(distance_ascii);           //串口发送测得的距离
       Delay_Ms(400);

       if(distance_value<400)
                           {
           car_stop();
                                //diff=3000*(LAD-500-MAD)/(LAD+MAD);
                            }
       else
                                     {
           l9110s_forward(left,1800-diff*2.85);
                      l9110s_forward(right,1800+diff*2.85); //diff=4000*(LAD-RAD)/(LAD+RAD+MAD);
                                     }

｝

我觉得应该是一个扫描时间的问题

这个应该这么解决呢？