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標(biāo)題: 智能尋跡小車51單片機控制程序 [打印本頁]

作者: OKLD168 時間: 2017-7-7 22:38
標(biāo)題: 智能尋跡小車51單片機控制程序
#include <reg52.h>
#include "car.h"       //自己編寫的頭文件，里面有函數(shù)聲明

/********************************/
/*             清空電機控制IO位                      */
/********************************/
void CleanRun()
{
      left_a = 0;
      left_b = 0;
      right_a = 0;
      right_b = 0;
}

/********************************/
/*       根據(jù)接收到的數(shù)據(jù)，控制小車       */
/********************************/
void Run()
{
      uchar delaytime = 50;                                              //前進、后退、側(cè)向前進的延時時間
      uchar little_delaytime = 22;             //轉(zhuǎn)彎的延時時間
      switch(recvbuf)
                              {
                                    case 0x01:       //前進
                                    {
                                             left_a = 1;                                              //正轉(zhuǎn)
                                             left_b = 0;
                                             right_a = 1;                                     //正轉(zhuǎn)
                                             right_b = 0;
                                             delayms(delaytime);
                                             break;
                                    }
                                    case 0x02:       //后退
                                    {
                                             left_a = 0;                                              //反轉(zhuǎn)
                                             left_b = 1;
                                             right_a = 0;                                     //反轉(zhuǎn)
                                             right_b = 1;
                                             delayms(delaytime);
                                             break;
                                    }
                                    case 0x03:       //左轉(zhuǎn)
                                    {
                                             left_a = 0;                                              //不轉(zhuǎn)
                                             left_b = 0;
                                             right_a = 1;                                     //正轉(zhuǎn)
                                             right_b = 0;
                                             delayms(little_delaytime);
                                             break;
                                    }
                                    case 0x04:       //右轉(zhuǎn)
                                    {
                                             left_a = 1;                                              //正轉(zhuǎn)
                                             left_b = 0;
                                             right_a = 0;                                     //不轉(zhuǎn)
                                             right_b = 0;
                                             delayms(little_delaytime);
                                             break;
                                    }
                                    case 0x05:       //前左方向運行
                                    {
                                             right_a = 1;                                     //正轉(zhuǎn)
                                             right_b = 0;
                                             left_b = 0;                                              //半速正轉(zhuǎn)
                                             StartPwm(lefta);                      //開啟定時器，設(shè)定產(chǎn)生PWM的引腳
                                             delayms(delaytime);             //延時一段時間
                                             StopPwm();                                              //關(guān)閉定時器
                                             break;
                                    }
                                    case 0x06:       //前右方向運行
                                    {
                                             left_a = 1;                                              //正轉(zhuǎn)
                                             left_b = 0;
                                             right_b = 0;                                     //半速正轉(zhuǎn)
                                             StartPwm(righta);
                                             delayms(delaytime);
                                             StopPwm();
                                             break;
                                    }
                                    case 0x07:       //后左方向運行
                                    {
                                             right_a = 0;                                     //后轉(zhuǎn)
                                             right_b = 1;
                                             left_a = 0;                                              //半速后轉(zhuǎn)
                                             StartPwm(leftb);
                                             delayms(delaytime);
                                             StopPwm();
                                             break;
                                    }
                                    case 0x08:       //后右方向運行
                                    {
                                             left_a = 0;                                              //后轉(zhuǎn)
                                             left_b = 1;
                                             right_a = 0;                                     //半速后轉(zhuǎn)
                                             StartPwm(rightb);
                                             delayms(delaytime);
                                             StopPwm();
                                             break;
                                    }
                                    case 0x09:       //原地順時針旋轉(zhuǎn)
                                    {
                                             left_a = 1;
                                             left_b = 0;
                                             right_a = 0;
                                             right_b = 1;
                                             delayms(delaytime);
                                             break;
                                    }
                                    case 0x0a:       //原地逆時針旋轉(zhuǎn)
                                    {
                                             left_a = 0;
                                             left_b = 1;
                                             right_a = 1;

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