智能小車程序(循跡、數(shù)瓶子(正放、倒放)測(cè)硬幣計(jì)算路程

1、#include<reg52.h>#define uchar unsigned char#define uint unsigned intsbit h1=P30;/左使能端 sbit h2=P31;/右使能端 sbit sg=P36;/蜂鳴器sbit s2=P33;/第2紅外接近開關(guān)sbit s1=P05;/第1紅外接近開關(guān)sbit d1=P37;/電機(jī)的驅(qū)動(dòng)口/sbit yb=P15;/硬幣檢查,已經(jīng)接到中斷口P32sbit g1=P06;/左對(duì)管sbit g2=P07;/右光電管 sbit g3=P04;/中間右對(duì)管sbit g4=P03;/中間左對(duì)管sbit rs=P00;s

2、bit rw=P01;sbit e=P02;uchar table=0x11,0x99,0x88,0xcc,0x44,0x66,0x22,0x33;/數(shù)組怎么寫就看你的步進(jìn)電機(jī)怎么接，步進(jìn)電機(jī)是有2根線兩兩相通的0x18,0x42,0x24,0x81uchar table1=0x11,0x19,0x18,0x1c,0x14,0x16,0x12,0x13;/右轉(zhuǎn)uchar table2=0x11,0x91,0x81,0xc1,0x41,0x61,0x21,0x31;/左轉(zhuǎn)uchar code table3="全程時(shí)間： 秒"/每個(gè)漢字2個(gè)字節(jié)uchar code table4

3、="所走路程: CM"/每個(gè)漢字2個(gè)字節(jié)uchar code table5="硬幣個(gè)數(shù): 個(gè)"/每個(gè)漢字2個(gè)字節(jié)uchar code table6="飲水瓶數(shù): 個(gè)"/每個(gè)漢字2個(gè)字節(jié)uint i,n,g=10,v=150,s=0,m=0,q=0,l=0,w=0,p=0,f,r=0,y=2;uint count=0,shi,ge,shi1,ge1,bai,ge2,shi2,shi3,ge3; /uchar yi="0123456789"void display1(void);void display2(void);

4、void display3(void);void display4(void);void write_12864com(uchar com);/寫指令void write_12864dat(uchar dat);/寫數(shù)據(jù)void initinal(void);/初始化void jishi(void);void lucheng(void);void zhizou();void yingbi(); void yingbi();void shuiping(); /*/延時(shí)函數(shù)，在12MHz的晶振頻率下/大約50us的延時(shí)/*void delay_50us(uint z)uint x,y;for(x=

5、z;x>0;x-)for(y=110;y>0;y-);void delay_50ms(uint t)/延時(shí)函數(shù) uint j; for(;t>0;t-) for(j=6245;j>0;j-); /*主函數(shù)*/ void main() initinal(); /LCM初始化 display1(); display2(); display3(); display4(); lucheng(); yingbi(); shuiping(); jishi(); TMOD=0x01;/選擇定時(shí)模式，方式1，16為定時(shí)/計(jì)數(shù)，最大計(jì)數(shù)65536TH0=(65536-10000)/256

6、;TL0=(65536-10000)%256;/給定時(shí)器0付初值10ms EA=1;/打開總中斷開關(guān)PT0=1;/設(shè)計(jì)to為最高級(jí)中斷 EX0=1;/允許外部中斷 IT0=1;/等于1時(shí)候是地電平跳變時(shí)觸發(fā)，等于0時(shí)候是低電平EX1=1;/允許外部中斷 IT1=1;/等于1時(shí)候是地電平跳變時(shí)觸發(fā)，等于0時(shí)候是低電平ET0=1;/開啟定時(shí)/計(jì)數(shù)0中斷TR0=1;/啟動(dòng)定時(shí)/計(jì) while(1) EX0=1;/開啟中斷0,為下次中斷做準(zhǔn)備 d1=1;/關(guān)掉繼電器 sg=1;/關(guān)掉蜂鳴器 zhizou();for(f=0;f<8;f+) P1=tablef; n+;/每給一個(gè)脈沖n自加一，輪子

7、轉(zhuǎn)一圈要給24x8=192個(gè)脈沖 q+;/計(jì)算路程變量 delay_50us(g);/15 if(s>=6)/當(dāng)轉(zhuǎn)過9個(gè)直角,就到檢測(cè)瓶子這時(shí)候減慢速度 g=30; /*計(jì)時(shí)函數(shù)*/ void jishi(void) shi=m/10; ge=m%10; write_12864com(0x85);/寫地址、 write_12864dat(0x30+shi); write_12864dat(0x30+ge); delay_50ms(1);/*計(jì)算路程函數(shù)*/ void lucheng(void) l=q/9.6;/每執(zhí)行主程序一次就得到8個(gè)脈沖，循環(huán)24次就有8*24=192個(gè)脈沖，剛好是

8、一圈20cm，192/20=9.6，即一厘米要9.6個(gè)脈沖 bai=l/100; shi1=l%100/10; ge1=l%100%10; write_12864com(0x95);/寫地址、 write_12864dat(0x30+bai); write_12864dat(0x30+shi1); write_12864dat(0x30+ge1); delay_50ms(1); /*計(jì)算硬幣函數(shù)*/ void yingbi()shi2=w/10;ge2=w%10; write_12864com(0x8d);/寫地址、 write_12864dat(0x30+shi2); write_12864

9、dat(0x30+ge2); delay_50ms(1); /*計(jì)算水瓶函數(shù)*/ void shuiping() shi3=p/10;ge3=p%10; write_12864com(0x9d);/寫地址、 write_12864dat(0x30+shi3); write_12864dat(0x30+ge3); delay_50ms(1); /*循跡函數(shù)*/ void zhizou() uint a=30;/給21給脈沖剛好轉(zhuǎn)一圈少一點(diǎn)，剛好能轉(zhuǎn) if(g1=0&&g2=0)/沒有偏離,前進(jìn) h1=1; h2=1; if(g1=1&&g2=0)/偏右,向左開 h

10、1=0; h2=1; if(g1=0&&g2=1)/偏zuo,向左you開 h1=1; h2=0; if(g3=0) /右對(duì)管遇到黑線，輸出低電平，右轉(zhuǎn)轉(zhuǎn)90度 h1=1; h2=1; sg=0;/蜂鳴器的9012三極管給基集給低電平導(dǎo)通 while(a-) for(i=0;i<8;i+)/只讓一個(gè)輪子轉(zhuǎn) P1=table2i; delay_50us(20); if(g1=1) a=0; s+;/轉(zhuǎn)一個(gè)直角自變量自加一 sg=1;/關(guān)閉蜂鳴器 if(g4=0)/左對(duì)管遇到黑線，輸出低電平，左轉(zhuǎn) h1=1; h2=1; sg=0; while(a-) for(i=0;i&l

11、t;8;i+) P1=table1i; delay_50us(20);/轉(zhuǎn)彎時(shí)適當(dāng)延時(shí)有利于光電傳感器反應(yīng)， if(g2=1) a=0; s+; sg=1; /*中斷0函數(shù)(測(cè)硬幣)*/ void int0() interrupt 0/外部中斷0，用檢測(cè)硬幣來觸發(fā),每當(dāng)金屬接近快關(guān)遇到金屬就輸出低電平 h1=0; h2=0; w+; /計(jì)算硬幣自變量 sg=0; /啟動(dòng)蜂鳴器 delay_50ms(10); sg=1; /關(guān)閉蜂鳴器 yingbi();/顯示硬幣個(gè)數(shù) jishi();/顯示時(shí)間 lucheng(); /顯示路程 h1=1;/開始走動(dòng) h2=1; EX0=0; /跳出中斷0 /*

12、中斷1函數(shù)(測(cè)水瓶)*/ void int1() interrupt 2/外部中斷0，第二個(gè)紅外對(duì)管,水瓶計(jì)算 EX1=0; /重新打開準(zhǔn)備下次中斷 h1=0; h2=0; sg=0; /啟動(dòng)蜂鳴器 delay_50ms(20);/延時(shí)1s sg=1;/關(guān)閉蜂鳴器 if(s1=0&&s2=0) h1=1; h2=1;p+; if(s1=1&&s2=0) d1=0; /while(s2=0); delay_50ms(20); /sg=1;/關(guān)閉蜂鳴器 d1=1; delay_50ms(20); p+; /delay_50ms(10); lucheng(); jis

13、hi(); shuiping(); h1=1; h2=1; /delay_50ms(10); EX1=1; /*定時(shí)器中斷0函數(shù)(測(cè)時(shí)間)*/ void timer1() interrupt 1 /定時(shí)/計(jì)數(shù)器中斷0重新給計(jì)數(shù)器賦值 TH0=(65536-10000)/256;TL0=(65536-10000)%256;/定時(shí)10mscount+;r+; if(count=100)/如果超出90s小車則停車 m+; count=0; if(r=9000|n>3700) h1=0; h2=0; lucheng(); jishi(); shuiping(); void write_12864

14、com(uchar com)/寫指令 rw=0; rs=0;/rs=0時(shí)是寫指令； delay_50us(1); P2=com; e=1; delay_50us(10); e=0; delay_50us(2); /* * 液晶函數(shù) */void write_12864dat(uchar dat)/寫數(shù)據(jù) rw=0; rs=1;/rs=1時(shí)是寫指令shu ju； delay_50us(1); P2=dat; e=1; delay_50us(10); e=0; delay_50us(2);void initinal(void)/液晶初始化 delay_50ms(2); write_12864com

15、(0x38); delay_50us(4); write_12864com(0x0c); delay_50us(4); / write_12864com(0x0f);/顯示開關(guān) /delay_50us(4); write_12864com(0x01);/清除顯示 delay_50us(240); write_12864com(0x06);/模式設(shè)計(jì) delay_50us(10); write_12864com(0x80);/整板顯示 delay_50us(10);/* 顯示函數(shù)*/void display1(void)/顯示1 uchar i; write_12864com(0x80);delay_50us(1);for(i=0;table3i!='0'i+) write_12864dat(table3i);delay_50us(1); void display2(void)/顯示2 uchar b; write_12864com(0x90); delay_50us(1); for(b=0;table4b!='0'b+) write_12864dat(table4b);delay_50us(1); void display3(void) /顯示3 uchar h;