diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.c"
new file mode 100644
index 0000000000000000000000000000000000000000..8a52afff01f73e32dba1da89e2527936d0920644
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.c"
@@ -0,0 +1,71 @@
+#include "APP.h"
+#include "Motor.h"
+
+#define	Left_LED	P27
+#define Right_LED	P22
+
+#define	Left_Flow		P26
+#define	Right_Flow 	P23
+
+
+void APP_Loop(void)
+{
+	static unsigned char State = 0;//0-直行  1-刹车  2-后退  3-左拐
+	static unsigned int Time=0;
+	
+	if( ((Left_Flow==0) | (Right_Flow==0)) & (State == 0) )//遇到障碍物
+	{
+		State = 1;
+		Time = 0;
+	}
+	
+	Time++;
+	
+	switch(State)
+	{
+		case 1 :
+			{
+				Motor_Stop();
+				if(Time > 50)
+				{
+					Time = 0;
+					State = 2;
+				}
+				break;
+			}
+		case 2 :
+			{
+				Motor_Back();
+				if(Time > 100)
+				{
+					Time = 0;
+					State = 3;
+				}
+				break;
+			}
+		case 3 :
+			{
+				Motor_Left();
+				if(Time > 200)
+				{
+					Time = 0;
+					State = 0;
+				}
+				break;
+			}		
+		case 0 :
+			{
+				Motor_Forward();
+				break;
+			}		
+		default:
+			{
+				;
+			}		
+	}
+	
+}
+
+
+
+
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.h" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.h"
new file mode 100644
index 0000000000000000000000000000000000000000..80a9bdbee67ef9f34b278f68356584457ad7e4e6
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/APP.h"
@@ -0,0 +1,8 @@
+#ifndef  __APP_H_
+#define  __APP_H_
+
+#include "STC89C5xRC_RDP.h"
+
+void APP_Loop(void);
+
+#endif
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.c"
new file mode 100644
index 0000000000000000000000000000000000000000..1aca8dba9199394c4a3fe4a2c1dbf53b2d5f15e7
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.c"
@@ -0,0 +1,99 @@
+#include "Motor.h"
+#include "PWM.h"
+
+//#define LF_A P02//左前电机A
+//#define LF_B P03//左前电机B
+//#define LB_A P01//左后电机A
+//#define LB_B P00//左后电机B
+
+//#define RF_A P05//右前电机A
+//#define RF_B P04//右前电机B
+//#define RB_A P06//右后电机A
+//#define RB_B P07//右后电机B
+
+
+unsigned char LF_A,LF_B,LB_A,LB_B,RF_A,RF_B,RB_A,RB_B;
+
+/*******************************************************************************
+* 函 数 名         : Motor_Stop()
+* 函数功能		     : 小车停止函数
+*******************************************************************************/
+void Motor_Stop(void)
+{
+	 LF_A=0;  
+	 LF_B=0;	 
+	 LB_A=0;	 
+	 LB_B=0;	 
+	 RF_A=0;   
+	 RF_B=0;	 
+	 RB_A=0;	 
+	 RB_B=0;	 
+}
+
+/*******************************************************************************
+* 函 数 名         : Motor_Forward()
+* 函数功能		     : 小车前进函数
+*******************************************************************************/
+void Motor_Forward(void)
+{
+	 LF_A=1;  
+	 LF_B=0;	
+	 LB_A=1;	 
+	 LB_B=0;	
+	
+	 RF_A=1;   
+	 RF_B=0;	 
+	 RB_A=1;	 
+	 RB_B=0;	 
+}
+
+/*******************************************************************************
+* 函 数 名         : Motor_Back()
+* 函数功能		     : 小车后退函数
+*******************************************************************************/
+void Motor_Back(void)
+{
+	 LF_A=0;  
+	 LF_B=1;	
+	 LB_A=0;	 
+	 LB_B=1;		
+	
+	 RF_A=0;   
+	 RF_B=1;	 
+	 RB_A=0;	 
+	 RB_B=1;	 
+}
+
+/*******************************************************************************
+* 函 数 名         : Motor_Left()
+* 函数功能		     : 小车左转函数
+*******************************************************************************/
+void Motor_Left(void)
+{
+	 LF_A=0;  
+	 LF_B=1;	 
+	 LB_A=0;	 
+	 LB_B=1;
+	
+	 RF_A=1;   
+	 RF_B=0;	 
+	 RB_A=1;	 
+	 RB_B=0;	 
+}
+
+/*******************************************************************************
+* 函 数 名         : Motor_Right()
+* 函数功能		     : 小车右转函数
+*******************************************************************************/
+void Motor_Right(void)
+{
+	 LF_A=1;  
+	 LF_B=0;	 
+	 LB_A=1;	 
+	 LB_B=0;
+	
+	 RF_A=0;   
+	 RF_B=1;	 
+	 RB_A=0;	 
+	 RB_B=1;	 
+}
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.h" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.h"
new file mode 100644
index 0000000000000000000000000000000000000000..df6d7eedfa612e61ced5d09e9c4edd770c285d35
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/Motor.h"
@@ -0,0 +1,12 @@
+#ifndef  __MOTOR_H_
+#define  __MOTOR_H_	
+
+#include "STC89C5xRC_RDP.h"
+
+void Motor_Stop(void);
+void Motor_Forward(void);
+void Motor_Back(void);	
+void Motor_Left(void);
+void Motor_Right(void);
+
+#endif
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.c"
new file mode 100644
index 0000000000000000000000000000000000000000..c5828f3ec88dd9623786ba45d7ed8d3f0f91261b
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.c"
@@ -0,0 +1,130 @@
+//微信公众号：物联网零妖
+//PWM输出设置 Timer0 输出2kHZ的波形，占空比 0~100% 可调
+#include<PWM.h>
+
+
+#define LF_A_IO P02//左前电机A
+#define LF_B_IO P03//左前电机B
+#define LB_A_IO P01//左后电机A
+#define LB_B_IO P00//左后电机B
+
+#define RF_A_IO P05//右前电机A
+#define RF_B_IO P04//右前电机B
+#define RB_A_IO P06//右后电机A
+#define RB_B_IO P07//右后电机B
+
+extern unsigned char LF_A,LF_B,LB_A,LB_B,RF_A,RF_B,RB_A,RB_B;
+static unsigned int PWM_H=0,PWM_L=0;//高电平时间和低电平时间
+static unsigned char PWM_IO_1=0;
+//初始化PWM定时器
+void PWM_Init(void)
+{
+	PWM_H = 0;
+	PWM_L = 0;
+	
+	//定时器0设置
+	TMOD |= 0x01;//设置定时器模式
+  TL0 = 0;//设置定时初值
+	TH0 = 0;//设置定时初值
+	TF0 = 0;//清除TF0标志
+  ET0 = 1;//使能定时器中断
+	
+	LF_A_IO=0;
+	LF_B_IO=0;
+	LB_A_IO=0;
+	LB_B_IO=0;
+	RF_A_IO=0;
+	RF_B_IO=0;
+	RB_A_IO=0;
+	RB_B_IO=0;
+	
+	PWM_IO_1=0;
+	
+}
+//调整占空比
+void PWM_Set_ZhanKongBi(unsigned char a)
+{
+	float ZhanKongBi;
+	ZhanKongBi = 100 - a;
+	
+	if(a<2)
+	{
+		LF_A_IO=0;
+		LF_B_IO=0;
+		LB_A_IO=0;
+		LB_B_IO=0;
+		RF_A_IO=0;
+		RF_B_IO=0;
+		RB_A_IO=0;
+		RB_B_IO=0;
+		PWM_IO_1=0;
+		TR0 = 0;
+	}
+	else if(a>98)
+	{
+		LF_A_IO=1;
+		LF_B_IO=1;
+		LB_A_IO=1;
+		LB_B_IO=1;
+		RF_A_IO=1;
+		RF_B_IO=1;
+		RB_A_IO=1;
+		RB_B_IO=1;
+		PWM_IO_1=1;
+		TR0 = 0;
+	}
+	else
+	{
+		ZhanKongBi = 10000 * ZhanKongBi / 100 ;
+		PWM_H = 0XFFFF - ZhanKongBi;
+		PWM_L = 0XFFFF - 10000 + ZhanKongBi;
+		TR0 = 1;
+	}
+}
+void TM0_Isr(void) interrupt 1
+{
+	if(PWM_IO_1)
+	{
+		LF_A_IO=0;
+		LF_B_IO=0;
+		LB_A_IO=0;
+		LB_B_IO=0;
+		RF_A_IO=0;
+		RF_B_IO=0;
+		RB_A_IO=0;
+		RB_B_IO=0;
+		PWM_IO_1=0;
+		TL0 = PWM_H;
+		TH0 = PWM_H>>8;
+	}
+	else
+	{
+		if(LF_A)
+			LF_A_IO=1;
+		if(LF_B)
+			LF_B_IO=1;
+		if(LB_A)
+			LB_A_IO=1;
+		if(LB_B)
+			LB_B_IO=1;
+		if(RF_A)
+			RF_A_IO=1;
+		if(RF_B)
+			RF_B_IO=1;
+		if(RB_A)
+			RB_A_IO=1;
+		if(RB_B)
+			RB_B_IO=1;
+		PWM_IO_1=1;
+		TL0 = PWM_L;
+		TH0 = PWM_L>>8;
+	}
+}
+//
+
+
+
+
+
+
+
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.h" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.h"
new file mode 100644
index 0000000000000000000000000000000000000000..ee934e2b0f6b155496795645e37d710d50bbef0b
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/PWM.h"
@@ -0,0 +1,10 @@
+//微信公众号：物联网零妖
+//PWM输出设置
+#ifndef __PWM_H__
+#define __PWM_H__
+
+#include "STC89C5xRC_RDP.h"
+
+void PWM_Init(void);
+void PWM_Set_ZhanKongBi(unsigned char a);
+#endif
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.c"
new file mode 100644
index 0000000000000000000000000000000000000000..bf10002c0b349f7597345f09381c66cfd96375e9
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.c"
@@ -0,0 +1,15 @@
+//微信公众号：物联网零妖
+#include "ProgramLogic.h"
+#include "SYS_LOOP.h"
+#include "APP.h"
+#include "PWM.h"
+
+void ProgramLogic_Main(void)
+{
+	PWM_Init();
+	PWM_Set_ZhanKongBi(20);
+	SYS_New_LoopFun(2,APP_Loop);
+}
+
+//
+
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.h" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.h"
new file mode 100644
index 0000000000000000000000000000000000000000..7d095532762801c5df38703e7c41956690eea09d
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Code_User/ProgramLogic.h"
@@ -0,0 +1,8 @@
+//微信公众号：物联网零妖 业务逻辑
+#ifndef __PROGRAMLOGIC_H__
+#define __PROGRAMLOGIC_H__
+#include "STC89C5xRC_RDP.h"
+
+void ProgramLogic_Main(void);
+
+#endif
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/APP.obj" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/APP.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..f12b7a3da4ded09b688917fccfb7898b947341fa
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diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/Motor.obj" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/Motor.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..10ca14d3db60aaf1f6d6bd335ba9da6ef8f6ec7c
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diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/PWM.obj" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/PWM.obj"
new file mode 100644
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Binary files /dev/null and "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/PWM.obj" differ
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/ProgramLogic.obj" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/ProgramLogic.obj"
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Binary files /dev/null and "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/ProgramLogic.obj" differ
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC"
new file mode 100644
index 0000000000000000000000000000000000000000..daaf5080923fd095c044d1212e1ec92bd2e437cf
Binary files /dev/null and "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC" differ
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.build_log.htm" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.build_log.htm"
new file mode 100644
index 0000000000000000000000000000000000000000..84ca933a9e904151173112776cb478e52895b2ab
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.build_log.htm"
@@ -0,0 +1,43 @@
+<html>
+<body>
+<pre>
+<h1>礦ision Build Log</h1>
+<h2>Tool Versions:</h2>
+IDE-Version: μVision V5.25.2.0
+Copyright (C) 2018 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: asd ad, ads, LIC=Y2KQD-8KW7P-B5ETQ-NM2M2-Z0PQC-WLNJD
+ 
+Tool Versions:
+Toolchain:       MDK51 Professional  Version: 9.57.0.0
+Toolchain Path:  D:\Keil\C51\BIN
+C Compiler:      C51.exe V9.57.0.0
+Assembler:       A51.exe V8.2.7.0
+Linker/Locator:  BL51.exe V6.22.2.0
+Library Manager: LIB51.exe V4.30.1.0
+Hex Converter:   OH51.exe V2.7.0.0
+CPU DLL:         S8051.DLL V3.113.0.0
+Dialog DLL:      DP51.DLL V2.64.0.0 
+<h2>Project:</h2>
+C:\Users\LingYao\Desktop\51单片机-智能小车例程\7-避障实验\uVision Project\STC89C52RC.uvproj
+Project File Date:  09/02/2021
+
+<h2>Output:</h2>
+Rebuild target 'STC89C52RC'
+compiling ProgramLogic.c...
+compiling APP.c...
+compiling Motor.c...
+compiling PWM.c...
+compiling main.c...
+compiling SYS_LOOP.c...
+linking...
+*** WARNING L16: UNCALLED SEGMENT, IGNORED FOR OVERLAY PROCESS
+    SEGMENT: ?PR?MOTOR_RIGHT?MOTOR
+*** WARNING L16: UNCALLED SEGMENT, IGNORED FOR OVERLAY PROCESS
+    SEGMENT: ?PR?_SYS_DEL_LOOPFUN?SYS_LOOP
+Program Size: data=50.0 xdata=0 code=2024
+creating hex file from "..\Object\STC89C52RC"...
+"..\Object\STC89C52RC" - 0 Error(s), 2 Warning(s).
+Build Time Elapsed:  00:00:02
+</pre>
+</body>
+</html>
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.hex" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.hex"
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diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.lnp" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.lnp"
new file mode 100644
index 0000000000000000000000000000000000000000..9f176dfd4190b29ba42d15063e416b03b1209944
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/STC89C52RC.lnp"
@@ -0,0 +1,8 @@
+"..\Object\ProgramLogic.obj",
+"..\Object\APP.obj",
+"..\Object\Motor.obj",
+"..\Object\PWM.obj",
+"..\Object\main.obj",
+"..\Object\SYS_LOOP.obj" 
+TO "..\Object\STC89C52RC" 
+PRINT(".\Listings\STC89C52RC.m51") RAMSIZE(256) 
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/SYS_LOOP.obj" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/SYS_LOOP.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..2a0a62d19179262b24e60d2341d74c50febdb0b6
Binary files /dev/null and "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/SYS_LOOP.obj" differ
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/main.obj" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/main.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..1a3460faf6ec1f73b7299388ded0106488c26730
Binary files /dev/null and "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/Object/main.obj" differ
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/System/main.c" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/System/main.c"
new file mode 100644
index 0000000000000000000000000000000000000000..e4e489f6cb82dcbc74c7832f8d4adf4f592e0940
--- /dev/null
+++ "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/System/main.c"
@@ -0,0 +1,25 @@
+#include "STC89C5xRC_RDP.h"
+#include "SYS_LOOP.h"
+#include "ProgramLogic.h"
+
+void Tim1_Isr(void) interrupt 3
+{
+	TL1 = 0x66;//设置定时初值
+	TH1 = 0xFC;//设置定时初值
+	SYS_TimerInterrupt_App();
+}
+void main(void)
+{
+	
+	TMOD = 0x10;//设置定时器模式
+	TL1 = 0x66;//设置定时初值
+	TH1 = 0xFC;//设置定时初值
+	TF1 = 0;//清除TF1标志
+	ET1 = 1;
+	TR1 = 1;//定时器1开始计时
+	EA=1;
+	SYS_LOOP_Init();
+	ProgramLogic_Main();//先执行业务逻辑
+	
+	SYS_LOOP_While_APP();//循环执行系统调度器
+}
\ No newline at end of file
diff --git "a/6-\351\201\277\351\232\234\345\256\236\351\252\214/\344\276\213\347\250\213\350\257\264\346\230\216.txt" "b/6-\351\201\277\351\232\234\345\256\236\351\252\214/\344\276\213\347\250\213\350\257\264\346\230\216.txt"
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391