紅外小車源代碼

ID:237486 · 發(fā)表于 2017-10-6 16:10

#include<reg52.h>

#define uchar unsigned char
#define uint unsigned int

unsigned char zkb1=0 ;
//**左邊電機(jī)的占空比**//

unsigned char zkb2=0 ;
//**右邊電機(jī)的占空比**//

unsigned char t=0;
//**定時(shí)器中斷計(jì)數(shù)器**//

sbit LSEN1=P0^0;
sbit LSEN2=P0^1;
sbit MSEN1=P0^2;
sbit MSEN2=P0^3;
sbit RSEN1=P0^4;
sbit RSEN2=P0^5;

//**傳感器***/
sbit ENA=P1^5;
sbit IN1=P1^4;
sbit IN2=P1^3;
sbit IN3=P1^2;
sbit IN4=P1^1;
sbit ENB=P1^0;

//**********初始化定時(shí)器中斷***********//
void init()
{
      TMOD=0x01;
      TH0=(65536-10)/256;
      TL0=(65536-10)%256;
      EA=1;
      ET0=1;
      TR0=1;
}

//***********中斷函數(shù)+脈寬調(diào)制***********//
void timer0() interrupt 1
{
if(t>=50)
{
   t=0;
}
if(t<zkb1)
      ENA=1;
else
      ENA=0;
if(t<zkb2)
      ENB=1;
else
      ENB=0;
t++;

  }

//******************直行******************//
void qianjin()
{
zkb1=30;
zkb2=30;
}

//***************小左轉(zhuǎn)函數(shù)***************//
void turn_left1()
{  zkb1=10;
zkb2=25;
}

//***************中左轉(zhuǎn)函數(shù)***************//
void turn_left2()
{  zkb1=10;
zkb2=20;
}

//***************大左轉(zhuǎn)函數(shù)***************//
void turn_left3()
{  zkb1=5;
zkb2=25;
}

//***************小右轉(zhuǎn)函數(shù)***************//
void turn_right1()
{ zkb1=25;
zkb2=10;

}

//***************中右轉(zhuǎn)函數(shù)***************//
void turn_right2()
{
zkb1=20;
zkb2=10;

}

//***************大右轉(zhuǎn)函數(shù)***************//
void turn_right3()
{
zkb1=25;
zkb2=5;

}

//***************循跡函數(shù)*****************//
void xunji()
{
   uchar flag;
   if((LSEN1==1)&&(LSEN2==1)&&(MSEN1==0)&&(MSEN2==0)&&(RSEN1==1)&&(RSEN2==1))
   { flag=0; }
//*******直行*******//
   else
   if((LSEN1==1)&&(LSEN2==0)&&(MSEN1==0)&&((MSEN2==0)||(MSEN2==1))&&(RSEN1==1)&&(RSEN2==1))
   { flag=1; }
  //******小左轉(zhuǎn)*******//
   else
   if((LSEN1==1)&&(LSEN2==1)&&((MSEN1==0)||(MSEN1==1))&&(MSEN2==0)&&(RSEN1==0)&&(RSEN2==1))
   { flag=2; }
  //******小右轉(zhuǎn)*******//
   else
   if((LSEN1==0)&&(LSEN2==0)&&(MSEN1==0)&&((MSEN2==0)||(MSEN2==1))&&(RSEN1==1)&&(RSEN2==1))
   { flag=3; }
  //*******中左轉(zhuǎn)*******//
   else
   if((LSEN1==1)&&(LSEN2==1)&&((MSEN1==0)||(MSEN1==1))&&(MSEN2==0)&&(RSEN1==0)&&(RSEN2==0))
   { flag=4; }
//*******中右轉(zhuǎn)*******//
   else
   if((LSEN1==0)&&((LSEN2==0)||(LSEN2==1))&&(MSEN1==1)&&(MSEN2==1)&&(RSEN1==1)&&(RSEN2==1))
   { flag=5; }
//*******大左轉(zhuǎn)*******//
   else
   if((LSEN1==1)&&(LSEN2==1)&&(MSEN1==1)&&(MSEN2==1)&&((RSEN1==0)||(RSEN1==1))&&(RSEN2==0))
   { flag=6; }
//*******大右轉(zhuǎn)*******//

switch (flag)
{
      case 0:
      qianjin();
      break;
      case 1:
      turn_left1();
      break;
      case 2:
      turn_right1();
      break;
      case 3:
      turn_left2();
      break;
      case 4:
      turn_right2();
      break;
      case 5:
      turn_left3();
      break;
      case 6:
      turn_right3();
      break;
      default: break;
}
}

//****************主程序****************//
void main()
{
      init();
      zkb1=30;
      zkb2=30;
while(1)
{
   qianjin();
}
}

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