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#include <reg52.h>
#include <math.h>
//宏定義
#define uchar unsigned char
#define uint unsigned int
#define SPEED_L_MAX 60
#define SPEED_R_MAX 60
//端口聲明
sbit L1 = P0^0;
sbit L2 = P0^1;
sbit R1 = P0^2;
sbit R2 = P0^3;
//變量定義
uchar t; // 計(jì)數(shù)
uchar PWM_L1; // 占
uchar PWM_L2; // 空
uchar PWM_R1; // 比
uchar PWM_R2; //
uchar Temp; // 接收數(shù)據(jù)暫存變量
uchar Port_flag; // 串口接收標(biāo)志位
int mode; // 控制模式
int SPEED_L_TARGET; // 左輪速度
int SPEED_R_TARGET; // 右輪速度
//子程序聲明
void Speed_Calculate();
void motor();
void Port_init();
void Time0_init()
{
TMOD|=0x01;
TH0=(65536 - 100)/256;
TL0=(65536 - 100)%256;
EA=1;
ET0=1;
TR0=1;
}
void Port_init()
{
TMOD|=0x20;
TH1=0xfd;
TL1=0xfd;
TR1=1;
REN=1;
SM0=0;
SM1=1;
EA=1;
ES=1;
}
void main()
{
Time0_init();
Port_init();
while(1)
{
if( Port_flag == 1 )
{
Port_flag = 0;
switch (Temp)
{
case 0x01 :
mode = 1; // 直走
case 0x02 :
mode = 2; // 左拐
case 0x03 :
mode = 3; // 右拐
case 0x04 :
mode = 4; // 倒退
case 0x05 :
mode = 5; // 停止
}
}
Speed_Calculate();
motor();
}
}
void motor()
{
if(SPEED_L_TARGET>=0)
{
PWM_L1=SPEED_L_TARGET;
PWM_L2=0;
}
else
{
PWM_L1=0;
PWM_L2=abs(SPEED_L_TARGET);
}
if(SPEED_R_TARGET>=0)
{
PWM_R1=SPEED_R_TARGET;
PWM_R2=0;
}
else
{
PWM_R1=0;
PWM_R2=abs(SPEED_R_TARGET); //絕對(duì)值
}
}
void Speed_Calculate()
{
if (mode == 1)
{
SPEED_L_TARGET = SPEED_L_MAX*0.45; //直走
SPEED_R_TARGET = SPEED_R_MAX*0.45;
}
else if(mode == 2)
{ //稍微左拐
SPEED_L_TARGET = SPEED_L_MAX*0;
SPEED_R_TARGET = SPEED_R_MAX*0.55;
}
else if(mode == 3)
{
SPEED_L_TARGET = SPEED_L_MAX*0.55; //稍微右拐
SPEED_R_TARGET = SPEED_R_MAX*0;
}
else if(mode == 4)
{
SPEED_L_TARGET = SPEED_L_MAX*(-0.45); //后退
SPEED_R_TARGET = SPEED_R_MAX*(-0.45);
}
else if (mode == 5)
{
SPEED_L_TARGET = SPEED_L_MAX*0; //停止
SPEED_R_TARGET = SPEED_R_MAX*0;
}
}
void Timer0 () interrupt 1
{
TH0=(65536 - 100)/256;
TL0=(65536 - 100)%256;
t++;
if(t<PWM_L1) L1=1;else L1=0;
if(t<PWM_L2) L2=1;else L2=0;
if(t<PWM_R1) R1=1;else R1=0;
if(t<PWM_R2) R2=1;else R2=0;
if(t>100)
t=0;
}
void Port () interrupt 4
{
RI=0;
Temp=SBUF;
Port_flag=1;
} |
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