標(biāo)題: 基于51單片機(jī)的智能紅外循跡小車(chē)程序 [打印本頁(yè)]
作者: cqupt.qwert    時(shí)間: 2019-6-14 19:17
標(biāo)題: 基于51單片機(jī)的智能紅外循跡小車(chē)程序
最近剛結(jié)束單片機(jī)講座的課，在寫(xiě)關(guān)于智能汽車(chē)的文章的同時(shí)自己做了一個(gè)簡(jiǎn)單的智能循跡小車(chē)，這里采用的是光電循跡模塊，使用比較簡(jiǎn)單，
紅外對(duì)管輸出的電壓模擬信號(hào)通過(guò)比較器轉(zhuǎn)換為了數(shù)字電平，只需要根據(jù)輸出的電平高低控制電機(jī)的正反轉(zhuǎn)，這邊附上部分單片機(jī)代碼

#include "reg52.h"

typedef unsigned int u16;
typedef unsigned char u8;

sbit left1 = P0^0;
sbit left2 = P0^1;
sbit right1 = P0^2;
sbit right2 = P0^3;

sbit IN1 = P1^4;
sbit IN2 = P1^3;
sbit IN3 = P1^2;
sbit IN4 = P1^1;

void xunji();

void main()
{
    while(1)
    {
        xunji();
    }
}

void TurnRight()           
{
    IN1 = 0;   
    IN2 = 1;

    IN3 = 0;   
    IN4 = 1;
}

void TurnLeft()               
{
    IN1 = 1;
    IN2 = 0;        

    IN3 = 1;
    IN4 = 0;   
}                  

void Forward()                  
{
    IN1 = 1;
    IN2 = 0;        

    IN3 = 0;   
    IN4 = 1;
}

void Stop()                     
{
    IN1 = 0;
    IN2 = 0;

    IN3 = 0;
    IN4 = 0;
}
   
void xunji()
{
    unsigned char flag = 0;
    if((left1 == 0)&&(left2 == 0)&&(right1 == 0)&&(right2 == 0))   //0 0 0 0
        flag = 0;

    if((left1 == 0)&&(left2 == 0)&&(right1 == 0)&&(right2 == 1))   //0 0 0 1
        flag = 1;

    if((left1 == 0)&&(left2 == 0)&&(right1 == 1)&&(right2 == 0))   //0 0 1 0
        flag = 0;

    if((left1 == 0)&&(left2 == 0)&&(right1 == 1)&&(right2 == 1))   //0 0 1 1
        flag = 1;

    if((left1 == 0)&&(left2 == 1)&&(right1 == 0)&&(right2 == 0))   //0 1 0 0
        flag = 0;

    if((left1 == 0)&&(left2 == 1)&&(right1 == 0)&&(right2 == 1))   //0 1 0 1
    flag = 1;

    if((left1 == 0)&&(left2 == 1)&&(right1 == 1)&&(right2 == 0))   //0 1 1 0
        flag = 0;
   
    if((left1 == 0)&&(left2 == 1)&&(right1 == 1)&&(right2 == 1))    //0 1 1 1
        flag = 1;
   
    if((left1 == 1)&&(left2 == 0)&&(right1 == 0)&&(right2 == 0))   //1 0 0 0
        flag = 2;
   
    if((left1 == 1)&&(left2 == 0)&&(right1 == 0)&&(right2 == 1))   //1 0 0 1
        flag = 0;
   
    if((left1 == 1)&&(left2 == 0)&&(right1 == 1)&&(right2 == 0))   //1 0 1 0
  flag = 2;

    if((left1 == 1)&&(left2 == 0)&&(right1 == 1)&&(right2 == 1))   //1 0 1 1
        flag = 0;
   
    if((left1 == 1)&&(left2 == 1)&&(right1 == 0)&&(right2 == 0))   //1 1 0 0
        flag = 2;

    if((left1 == 1)&&(left2 == 1)&&(right1 == 0)&&(right2 == 1))   //1 1 0 1
        flag = 0;

    if((left1 == 1)&&(left2 == 1)&&(right1 == 1)&&(right2 == 0))   //1 1 1 0
        flag = 2;
   
    if((left1 == 1)&&(left2 == 1)&&(right1 == 1)&&(right2 == 1))   //1 1 1 1
        flag = 3;
    switch(flag)
{
    case(0):Forward();break;
   
    case(1):TurnRight();break;
   
    case(2):TurnLeft();break;
   
    default:Stop();break;
}
}


作者: zafu    時(shí)間: 2019-7-20 15:10
很不錯(cuò)，請(qǐng)樓主分享一下全部代碼，1539429523@qq.com
作者: ?小萌新?    時(shí)間: 2019-10-29 17:18
樓主可不可以給我發(fā)一份完整代碼，急用1078786909@qq.com



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