diff --git a/car.c b/car.c
new file mode 100644
index 0000000000000000000000000000000000000000..09f5c52f266a3b86f2f7b153fd795e86428dd813
--- /dev/null
+++ b/car.c
@@ -0,0 +1,129 @@
+/************小车移动方向*************/
+/* 向前直行【四电机正转】			   		 */
+/* 向后直行【四电机反转】			  		 */
+/* 向前左拐【右电机正转，左电机停止】*/
+/* 向前右拐【右电机停止，左电机正转】*/
+/* 向后左拐【右电机反转，左电机停止】*/
+/* 向后右拐【右电机停止，左电机反转】*/
+/* 停    止【四电机停止】		       	 */
+/************小车移动方向*************/
+
+#include <REGX52.H>
+#include "motor.h"
+
+sbit EN1A = P0^7;//左前
+sbit EN1B = P0^2;//右前
+sbit EN2A = P3^7;//左后
+sbit EN2B = P3^2;//右后
+
+unsigned char counter1,speed;	//计数值和比较值，用于输出PWM
+
+void Timer0_Init()		//100微秒@11.0592MHz
+{
+	TMOD = 0x11;	//设置定时器模式
+	TL0 = 0xA4;		//设置定时初始值
+	TH0 = 0xFF;		//设置定时初始值
+	TF0 = 0;			//清除TF0标志
+	TR0 = 1;			//定时器0开始计时
+	ET0 = 1;      //定时器0的中端允许开关
+	EA  = 1;      //定时器总开关
+	PT0 = 1;      //设置定时器为高低控制优先级，1为高优先级，0为低优先级
+}
+void Timer0_Routine() interrupt 1  //中断函数
+{
+
+	TL0 = 0xA4;		//设置定时初始值
+	TH0 = 0xFF;		//设置定时初始值
+	
+	counter1++;
+	if (counter1 >= 100)
+	{
+		counter1 = 0;
+	}
+	if (counter1 < speed)
+	{
+		EN1A = 1;
+		EN1B = 1;
+		EN2A = 1;
+		EN2B = 1;
+	}
+	else
+	{
+		EN1A = 0;
+		EN1B = 0;
+		EN2A = 0;
+		EN2B = 0;
+	}
+}
+void car_go ()        //小车向前直行
+{
+	speed = 20;
+	LF_motor_go ();
+	RF_motor_go ();
+	LR_motor_go ();
+	RR_motor_go ();
+}
+void car_back ()      //小车向后直行
+{
+	speed = 18;
+	LF_motor_back ();
+	RF_motor_back ();
+	LR_motor_back ();
+	RR_motor_back ();
+}
+void car_stop ()      //小车停止
+{
+	speed = 0;
+	RR_motor_stop ();
+	LR_motor_stop ();
+	RF_motor_stop ();
+	LF_motor_stop ();
+}
+void car_leftgo ()    //小车向前左拐
+{
+	speed = 18;
+	RF_motor_go ();
+	RR_motor_go ();
+	LF_motor_stop ();
+	LR_motor_stop ();
+}
+void car_rightgo ()   //小车向前右拐
+{
+	speed = 18;
+	LF_motor_go ();
+	LR_motor_go ();
+	RF_motor_stop ();
+	RR_motor_stop ();
+}
+void car_leftback ()  //小车向后左拐
+{
+	speed = 18;
+	RR_motor_back ();
+	RF_motor_back ();
+	LF_motor_stop ();
+	LR_motor_stop ();
+}
+void car_rightback () //小车向后右拐	
+{
+	speed = 18;
+	LF_motor_back ();
+	LR_motor_back ();
+	RF_motor_stop ();
+	RR_motor_stop ();
+}
+void car_rightstop () //小车原地右拐
+{
+	speed = 20;
+	LF_motor_go ();
+	LR_motor_go ();
+	RF_motor_back ();
+	RR_motor_back ();
+}
+void car_leftstop () //小车原地左拐
+{
+	speed = 20;
+	LF_motor_back ();
+	LR_motor_back ();
+	RF_motor_go ();
+	RR_motor_go ();
+}
\ No newline at end of file
diff --git a/car.h b/car.h
new file mode 100644
index 0000000000000000000000000000000000000000..8f0e8a8511f496d8e98e1dd25806615fc58dad1d
--- /dev/null
+++ b/car.h
@@ -0,0 +1,14 @@
+#ifndef __CAR_H_
+#define __CAR_H_
+
+void car_go ();        //小车向前直行
+void car_back ();      //小车向后直行
+void car_stop ();      //小车停止
+void car_leftgo ();    //小车向前左拐
+void car_rightgo ();   //小车向前右拐
+void car_leftback ();  //小车向后左拐
+void car_rightback (); //小车向后右拐
+void car_leftstop ();  //小车原地左拐
+void car_rightstop (); //小车原地右拐
+
+#endif
\ No newline at end of file
diff --git a/main(2).c b/main(2).c
new file mode 100644
index 0000000000000000000000000000000000000000..2b415f3d42816a4745391ad30e0f7d576685b638
--- /dev/null
+++ b/main(2).c
@@ -0,0 +1,11 @@
+#include "car.h"
+
+void main ()
+{
+	Timer0_Init();
+	
+	while (1)
+	{
+		car_go ();
+	}
+}
\ No newline at end of file
diff --git a/motor.c b/motor.c
new file mode 100644
index 0000000000000000000000000000000000000000..7ee1609aa1c2fe9295ded462f69c4a211e1abbc9
--- /dev/null
+++ b/motor.c
@@ -0,0 +1,44 @@
+/**********电机的正反转**********/
+/*															*/
+/*LF左前  RF右前  LR左后  RR右后*/
+/*															*/
+/**********电机的正反转**********/
+
+#include <REGX52.H>
+//位定义
+sbit IN11 = P0^5;//左前
+sbit IN12 = P0^6;
+sbit IN13 = P0^3;//右前
+sbit IN14 = P0^4;
+sbit IN21 = P3^5;//左后
+sbit IN22 = P3^6;
+sbit IN23 = P3^3;//右后
+sbit IN24 = P3^4;
+
+void LF_motor_go ()    //左前电机正转
+{IN11 = 0;IN12 = 1;}
+void LF_motor_back ()  //左前电机反转
+{IN11 = 1;IN12 = 0;}
+void LF_motor_stop ()  //左前电机停止
+{IN11 = 1;IN12 = 1;}
+void RF_motor_go ()    //右前电机正转
+{IN13 = 0;IN14 = 1;}
+void RF_motor_back ()  //右前电机反转
+{IN13 = 1;IN14 = 0;}
+void RF_motor_stop ()  //右前电机停止
+{IN13 = 1;IN14 = 1;}
+void LR_motor_go ()    //左后电机正转
+{IN21 = 1;IN22 = 0;}
+void LR_motor_back ()  //左后电机反转
+{IN21 = 0;IN22 = 1;}
+void LR_motor_stop ()  //左后电机停止
+{IN21 = 1;IN22 = 1;}
+void RR_motor_go ()    //右后电机正转
+{IN23 = 1;IN24 = 0;}
+void RR_motor_back ()  //右后电机反转
+{IN23 = 0;IN24 = 1;}
+void RR_motor_stop ()  //右后电机停止
+{IN23 = 1;IN24 = 1;}
+
+
+
diff --git a/motor.h b/motor.h
new file mode 100644
index 0000000000000000000000000000000000000000..a7b0521dc831b4ddbf7343f279ad65a646f6bb9b
--- /dev/null
+++ b/motor.h
@@ -0,0 +1,17 @@
+#ifndef __MOTOR_H_
+#define __MOTOR_H_
+
+void LF_motor_go ();    //左前电机正转
+void LF_motor_back ();  //左前电机反转
+void RF_motor_go ();    //右前电机正转
+void RF_motor_back ();  //右前电机反转
+void LR_motor_go ();    //左后电机正转
+void LR_motor_back ();  //左后电机反转
+void RR_motor_go ();    //右后电机正转
+void RR_motor_back ();  //右后电机反转
+void LF_motor_stop ();  //左前电机停止
+void RF_motor_stop ();  //右前电机停止
+void LR_motor_stop ();  //左后电机停止
+void RR_motor_stop ();  //右后电机停止
+
+#endif
\ No newline at end of file