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標(biāo)題: 這個(gè)程序單獨(dú)循跡好使單獨(dú)避障好使現(xiàn)在弄在一起就不好使這是問(wèn)為什么 [打印本頁(yè)]

作者: 1997 時(shí)間: 2017-2-3 22:28
標(biāo)題: 這個(gè)程序單獨(dú)循跡好使單獨(dú)避障好使現(xiàn)在弄在一起就不好使這是問(wèn)為什么
#include <reg52.h>
#define uint unsigned int
#define  uchar unsigned char
#define  P0_State P0
sbit  leftmotor_in1=P2^7;
sbit  leftmotor_in2=P2^6;
sbit  rightmotor_in3=P2^5;
sbit rightmotor_in4=P2^4;
sbit Trig=P1^1;
sbit Echo=P1^2;
sbit en_1=P2^3;
sbit en_2=P2^2;
uint S,time,i,j,pwm1,pwm2;
void stop();
void straight();
void turn_left();
void turn_right();
void Sensor_5_Car_State_Adjustment();
void delay20us(unsigned char t)
{
while(--t);
}
/*******延時(shí)函數(shù)——延時(shí)50ms*******/
void delay(uint xms) //@11.0592MHz
{

   unsigned char m, n;
   for(m=xms;m>0;m--)
      for(n=110;n>0;n--);

}

void csb()
{
Trig=1;
delay20us(20);
Trig=0;
while(!Echo);
      TR0=1;
   while(Echo);
   TR0=0;
   time=TH0*256+TL0;
S=(time*1.7)/100;

      TH0=0;
   TL0=0;

}
void T0_time()interrupt 1
{

}
void T1_time()interrupt 3
{
TR1=0;
TH1=(65536-100)/256;
TL1=(65536-100)%256;
i++;
j++;
   if(i<pwm1)
{
   en_1=1;
}
      else
         en_1=0;
   if(j<pwm2)
{
   en_2=1;
}
   else
         en_2=0;

if(i>=100)
{
   i=0;
}
if(j>=100)
{
j=0;
}
TR1=1;
}
void main()

  {
TMOD=0x10;
TH1=(65536-100)/256;
   TL1=(65536-100)%256;
   TH0=0;
   TL0=0;
ET1=1;
ET0=1;
TR1=1;
TR0=0;
EA=1;

while(1)
{
csb();
   if(S>10)
   {
   straight();

   }
   else if(S<=10)
   {
stop();

   }

}

}
void straight()    //直走函數(shù)
{

leftmotor_in1=0;
leftmotor_in2=1;
  rightmotor_in3=0;
rightmotor_in4=1;
}
void turn_left() //左轉(zhuǎn)函數(shù)
{

leftmotor_in1=1;
leftmotor_in2=0;
  rightmotor_in3=0;
rightmotor_in4=1;
}
void turn_right() //右轉(zhuǎn)函數(shù)
{

leftmotor_in1=0;
leftmotor_in2=1;
  rightmotor_in3=1;
rightmotor_in4=0;
}

void stop()       //停止函數(shù)
{
  leftmotor_in1=0;
leftmotor_in2=0;
  rightmotor_in3=0;
rightmotor_in4=0;
}
void Sensor_5_Car_State_Adjustment()
{
      P0_State=P0_State&0x00;
         switch(P0_State)
   {

case 0x1b:  pwm1=40;
pwm2=40;
                  straight();    //P0.0|P0.1|P0.2|P0.3|P0.4為11011說(shuō)明小車正常尋跡下一步小車直行
break;
case 0x1d:                      //P0.0|P0.1|P0.2|P0.3|P0.4為11101說(shuō)明小車左偏下一步小車右拐

                                 pwm2=30;
                                 pwm1=30;
                           turn_right();



                  break;
      case 0x17:                                           //10111

        pwm2=35;
pwm1=35;
turn_left();

   //P0.0|P0.1|P0.2|P0.3|P0.4為10111說(shuō)明小車右偏下一步左拐
                     break;
         case 0x03:
pwm1=50;
pwm2=50;
   straight();
   delay(1);
            //P1.0|P1.1|P1.2|P1.3|P1.4為00011說(shuō)明小車遇到左T標(biāo)置物小車左拐

pwm1=30;
pwm2=40;
   turn_left();





                  break;
   case 0x18:
                        pwm1=50;
                  pwm2=50;
            straight();
                           delay(1);
                        //P0.0|P0.1|P0.2|P0.3|P0.4為11000說(shuō)明小車遇到右T標(biāo)志物下一步小車右拐

pwm1=40;
   pwm2=40;
   turn_right();


                  break;

   case 0x11:                         //P0.0|P0.1|P0.2|P0.3|P0.4為00001說(shuō)明小車遇到十字標(biāo)志物下一步直行
   case 0x10:                      //P0.0|P0.1|P0.2|P0.3|P0.4為10001說(shuō)明小車遇到十字標(biāo)志物體下一步小車直行
   case 0x01:                      //P0.0|P0.1|P0.2|P0.3|P0.4為10000說(shuō)明小車遇到十字標(biāo)志物下一步直行
   case 0x00:                      //P0.0|P0.1|P0.2|P0.3|P0.4為00000說(shuō)明小車遇到十字標(biāo)志物下一步小車直行


      pwm1=40;
      pwm2=40;
   turn_right();
delay(50);





               break;
case 0x1c:
               //11100

pwm1=40;
pwm2=40;

   turn_right();
if(P0^2==0)
break;


            break;
case 0x07:
                                                        //00111

                              pwm1=40;
        pwm2=40;
turn_left();
delay(100);


      break;
   case 0x0b :                         //01011

                           pwm1=40;
                           pwm2=20;
                           turn_left();

         break;
case 0x1a:                               //11010


   pwm1=30;
   pwm2=40;
turn_right();



            break;
case 0x0f:          //01111

pwm1=40;
pwm2=40;
     turn_left();
      delay(50);

      break;
case  0x1e:

      pwm1=40;
      pwm2=40;
turn_right(); //11110
   delay(50);

         break;
default:
      break;                               //P.0|P0.1|P0.2|P0.3|P0.4 其他情況不做任何改動(dòng)
   }

}

作者: 1997 時(shí)間: 2017-2-3 22:30
這個(gè)是我自己寫(xiě)的我現(xiàn)在通過(guò)測(cè)試應(yīng)該是定時(shí)器有問(wèn)題但是不知道怎么改改了很多回還是沒(méi)改到點(diǎn)上

作者: 打洗你hhh 時(shí)間: 2017-3-25 21:48
解決沒(méi)有

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