用L298來(lái)控制的 51單片機(jī)怎么驅(qū)動(dòng)直流電機(jī)c語(yǔ)言
#include
#include
#defineuint unsigned int
#defineuchar unsigned char
#defineN 100
sbit s1=P1^0; //電機(jī)驅(qū)動(dòng)口
sbits2=P1^1; //電機(jī)驅(qū)動(dòng)口
sbits3=P1^2; //電機(jī)驅(qū)動(dòng)口
sbits4=P1^3; //電機(jī)驅(qū)動(dòng)口
sbiten1=P1^4; //電機(jī)使能端
sbiten2=P1^5; //電機(jī)使能端
sbitLSEN=P2^0; //光電對(duì)管最左
sbitLSEN1=P2^1; //光電對(duì)管左1
sbitLSEN2=P2^2; //光電對(duì)管左2
sbitRSEN1=P2^3; //光電對(duì)管右1
sbitRSEN2=P2^4; //光電對(duì)管右2
sbitRSEN=P2^5; //光電對(duì)管最右
uintpwm1=0,pwm2=0,t=0;
voiddelay(uint xms)
{
uinta;
while(--xms)
{
for(a=123;a>0;a--);
}
}
voidmotor(uchar speed1,uchar speed2)
{
if(speed1>=-100&&speed1<=100)
{
pwm1=abs(speed1);
if(speed1>0)
{
s1=1;
s2=0;
}
if(speed1==0)
{
s1=1;
s2=1;
}
if(speed1<0)
{
s1=0;
s2=1;
}
}
if(speed2>=-100&&speed2<=100)
{
pwm2=abs(speed2);
if(speed2>0)
{
s3=1;
s4=0;
}
if(speed2==0)
{
s3=1;
s4=1;
}
if(speed2<0)
{
s3=0;
s4=1;
}
}
}
voidgo_forward(uint speed)
{
s1=1;
s2=0;
s3=1;
s4=0;
pwm1=speed;
pwm2=speed;
}
voidgo_back(uint speed)
{
s1=0;
s2=1;
s3=0;
s4=1;
pwm1=speed;
pwm2=speed;
}
voidstop()
{
s1=1;
s2=1;
s3=1;
s4=1;
pwm1=0;
pwm2=0;
}
voidturn_right(uint P1,uint P2) //右轉(zhuǎn)函數(shù)
{
s1=1;
s2=0;
s3=0;
s4=1;
pwm1=P1;
pwm2=P2;
}
voidturn_left(uint P1,uint P2) //左轉(zhuǎn)函數(shù)
{
s1=0;
s2=1;
s3=1;
s4=0;
pwm1=P1;
pwm2=P2;
}
voidtracking()
{
if((LSEN1==0)&&(LSEN2==0)&&(RSEN1==0)&&(RSEN2==0))//沒(méi)有檢測(cè)到
{
go_forward(100);
}
if((LSEN1==1)&&(LSEN2==0)&&(RSEN1==0)&&(RSEN2==0))//左一檢測(cè)到
{
turn_left(40,80);//左轉(zhuǎn) 右輪 》左輪
delay(N);
}
if((LSEN1==0)&&(LSEN2==1)&&(RSEN1==0)&&(RSEN2==0))//左二檢測(cè)到
{
turn_left(40,60);//左轉(zhuǎn) 右輪 》左輪
delay(N);
}
if((LSEN1==0)&&(LSEN2==0)&&(RSEN1==1)&&(RSEN2==0))//右一檢測(cè)到
{
turn_right(60,4);//右轉(zhuǎn) 左輪 》右輪
delay(N);
}
if((LSEN1==0)&&(LSEN2==0)&&(RSEN1==0)&&(RSEN2==1))//右二檢測(cè)到
{
turn_right(80,40);//右轉(zhuǎn) 左輪 》右輪
delay(N);
}
if((LSEN1==1)&&(LSEN2==1))
{
turn_left(0,100);
delay(1000);
}
if((RSEN1==1)&&(RSEN2==1))
{
turn_right(100,0);
delay(1000);
}
}
voidavoidance()
{
}
voidinit()
{
TMOD=0x02;//timer0 同時(shí)配置為模式2,8自動(dòng)重裝計(jì)數(shù)模式
TH0=156;//定時(shí)器初值設(shè)置100us中斷
TL0=156;
ET0=1;
EA=1;
TR0=1;//開(kāi)啟總中斷
}
voidmain()
{
init();
while(1)
{
tracking();
}
}
voidtimer0() interrupt 1 //電機(jī)驅(qū)動(dòng) 提供PWM信號(hào)
{
