基于51單片機(jī)智能小車循跡程序.doc

#include #include #define uint unsigned int#define uchar unsigned char/*/ uchar led_data9=0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82, 0xf8,0x80; uchar circle=0,cir_comp=0,cir_count=0;/設(shè)定圈數(shù)，實(shí)際圈數(shù) uchar turn_count=0; bit end=0; /圈數(shù)跑完標(biāo)志/*/sbit xg0=P10;/左尋軌對(duì)管sbit xg1=P11;/中間尋軌對(duì)管sbit xg2=P12;/右尋軌對(duì)管sbit xz=P13;/感應(yīng)擋板對(duì)管/*/sbit Q_IN1=P20; /車前左輪控制 sbit Q_IN2=P21;sbit Q_IN3=P22; /車前右輪控制sbit Q_IN4=P23; sbit H_IN1=P24; /車尾左輪控制sbit H_IN2=P25;sbit H_IN3=P26; /車尾右輪控制sbit H_IN4=P27;sbit Q_ENA=P30; /車前左輪使能，PWMsbit Q_ENB=P31; /車前右輪使能，sbit H_ENA=P36; /車尾左輪使能，sbit H_ENB=P37; /車尾右輪使能，/*/#define stra_q_l 100 /直線行走時(shí)，四個(gè)輪子占空比調(diào)試#define stra_q_r 100#define stra_h_l 100#define stra_h_r 100#define turn_q_l 100 /轉(zhuǎn)彎時(shí)四個(gè)輪子的占空比調(diào)試#define turn_q_r 100#define turn_h_l 100#define turn_h_r 100 #define turnr_time 2900/右轉(zhuǎn)彎時(shí)的延時(shí)常數(shù)#define turnl_time 3000 /左轉(zhuǎn)彎時(shí)的延時(shí)常數(shù)#define dt_time 5800 /原地掉頭時(shí)延時(shí)常數(shù)#define over_time 1000 /停止延時(shí)#define back_time 2500 /走完環(huán)形，回到直道延時(shí)轉(zhuǎn)彎#define black_time 1500 /過(guò)黑線的時(shí)間#define correct_l_time 700 /左矯正時(shí)間#define correct_r_time 700 /右矯正時(shí)間#define hou_time 200/*/ uchar q_duty_l,q_duty_r,h_duty_l,h_duty_r,/車前后左右輪占空比 i=0,j=0,k=0,m=0;/*/ void delay_cir(uint n) uchar x; while(n-) for(x=0; x=9)turn_count=0; cir_count+; circle-;if(cir_count=cir_comp) end=1; over(); delay(500); else if(xg0=0)&(xg1=0)&(xg2=0) straight(); else if(xg0=1)&(xg1=0)&(xg2=0) over(); delay(over_time); houtui(); delay(hou_time); correct_right(); /左偏，向右矯正 else if(xg0=0)&(xg1=0)&(xg2=1) over(); delay(over_time); houtui(); delay(hou_time); correct_left(); /右偏，向左矯正 /*/void int0(void) interrupt 0/中斷圈數(shù)設(shè)定 EX0=0; delay_cir(250); circle+; cir_comp+; if(circle8) circle=0; cir_comp=0; P0=led_datacircle; EX0=1;/*/void time1(void) interrupt 3 /T1溢出中斷，電機(jī)調(diào)速 i+; j+; k+; m+; if(i100) Q_ENA=1;i=0; if(j100 ) Q_ENB=1;j=0; if(k100) H_ENA=1;k=0; if(m100) H_ENB=1;m=0; P0=led_datacircle; TH1=0XFF; TL1=0XF6; /*/void main() P0=led_datacircle; P1=0xFF; P1=0XFF; /P1口做輸入 P2=0X00; /P2口初始化，小車禁止 P3=0XFF; TMOD=0X11;/T0，T1，工作方式1 TH1=0XFF;