ATmega16-16PC单片机超声波测距避障小车源码+资料

/* * motor.c * * Created on: 2011-3-3 * Author: Jason Jiang * Home Page: www.ruixuedz.com.cn * Email: ruixuedz@gmail.com */ #include "motor.h" #include "uart.h" MOTOR_STATE g_motor_state = MOTOR_STOP; uchar g_count = 0; uchar g_left_pwm = 0; uchar g_right_pwm = 0; void motor_init() { cli(); INPUT_DDR |= _BV(LEFT_INPUT1) | _BV(LEFT_INPUT2) | _BV(RIGHT_INPUT1) | _BV( RIGHT_INPUT2); ENABLE_DDR |= _BV(LEFT_ENABLE) | _BV(RIGHT_ENABLE); INPUT_PORT &= ~(_BV(LEFT_INPUT1) | _BV(LEFT_INPUT2) | _BV(RIGHT_INPUT1) | _BV(RIGHT_INPUT2)); ENABLE_PORT &= ~(_BV(LEFT_ENABLE) | _BV(RIGHT_ENABLE)); setSpeed(200, 200); TCCR0 = 0x00; //停止定时器 TCNT0 = 0x38; //设置初始值 TIMSK |= 0x01; TCCR0 = 0x02; //开动定时器 sei(); } void motor_rotate() { if (MOTOR_ROTATE == g_motor_state) { return; } steerMotor(ROTATE_RIGHT); g_motor_state = MOTOR_ROTATE; } void motor_forward() { if (MOTOR_FORWARD == g_motor_state) { return; } steerMotor(MOVE_FORWARD); g_motor_state = MOTOR_FORWARD; } void steerMotor(MOTOR_STEER_ENUM steer) { switch (steer) { case MOVE_FORWARD: INPUT_PORT &= ~(1 << LEFT_INPUT1); INPUT_PORT |= (1 << LEFT_INPUT2); //Left Motor On Forward INPUT_PORT &= ~(1 << RIGHT_INPUT1); INPUT_PORT |= (1 << RIGHT_INPUT2); //Right Motor On Forward break; case TURN_LEFT: INPUT_PORT &= ~(1 << LEFT_INPUT1); INPUT_PORT &= ~(1 << LEFT_INPUT2); //Left Motor off INPUT_PORT &= ~(1 << RIGHT_INPUT1); INPUT_PORT |= (1 << RIGHT_INPUT2); //Right Motor On Forward break; case TURN_RIGHT: INPUT_PORT &= ~(1 << LEFT_INPUT1); INPUT_PORT |= (1 << LEFT_INPUT2); //Left Motor On Forward INPUT_PORT &= ~(1 << RIGHT_INPUT1); INPUT_PORT &= ~(1 << RIGHT_INPUT2); //Right Motor off break; case ROTATE_LEFT: INPUT_PORT |= (1 << LEFT_INPUT1); INPUT_PORT &= ~(1 << LEFT_INPUT2); //Left Motor On Reverse INPUT_PORT &= ~(1 << RIGHT_INPUT1); INPUT_PORT |= (1 << RIGHT_INPUT2); //Right Motor On Forward break; case ROTATE_RIGHT: INPUT_PORT &= ~(1 << LEFT_INPUT1); INPUT_PORT |= (1 << LEFT_INPUT2); //Left Motor On Forward INPUT_PORT |= (1 << RIGHT_INPUT1); INPUT_PORT &= ~(1 << RIGHT_INPUT2); //Right Motor On Reverse break; case MOVE_BACKWARD: INPUT_PORT |= (1 << LEFT_INPUT1); INPUT_PORT &= ~(1 << LEFT_INPUT2); //Left Motor On Reverse INPUT_PORT |= (1 << RIGHT_INPUT1); INPUT_PORT &= ~(1 << RIGHT_INPUT2); //Right Motor On Reverse break; case FULL_STOP: INPUT_PORT &= ~(1 << LEFT_INPUT1); INPUT_PORT &= ~(1 << LEFT_INPUT2); //Left Motor off INPUT_PORT &= ~(1 << RIGHT_INPUT1); INPUT_PORT &= ~(1 << RIGHT_INPUT2); //Right Motor off break; default: break; } } void setSpeed(uchar left_pwm, uchar right_pwm) { g_left_pwm = left_pwm; g_right_pwm = right_pwm; } ISR(TIMER0_OVF_vect) //定时器溢出中断程序 { TCNT0 = 0x38; //从新调入初始值 g_count++; //每中断一次加1 //printStr("int\n"); if (g_count < g_left_pwm) //判断pwm1是不是改输出高电平 { ENABLE_PORT |= (1 << LEFT_ENABLE); //printStr("l1\n"); } else { //不是则输出0 ENABLE_PORT &= ~(1 << LEFT_ENABLE); //printStr("l0\n"); } if (g_count < g_right_pwm) { ENABLE_PORT |= (1 << RIGHT_ENABLE); //printStr("r1\n"); } else { ENABLE_PORT &= ~(1 << RIGHT_ENABLE); //printStr("r0\n"); } }