17. 五路循迹智能小车c源码.zip

#include<reg52.h> #define uchar unsigned char #define uint unsigned int #define lcd P0 sbit lcden=P2^7; sbit lcdrs=P2^6; sbit lcdrw=P2^5; uchar code table1[]="cm/s"; uchar code table2[]="s"; uchar code table3[]="Speed"; uchar code table4[]="Time"; void delay(uint xms); sbit ENA=P3^4;//左前pwm使能 sbit ENB=P3^5;//右前电机pwm使能 sbit ENC=P3^6;//左后 sbit END=P3^7;//右后 uchar pwmA=0;//左前轮的占空比 uchar pwmB=0; //右前 uchar pwmC=0;// 左后 uchar pwmD=0;// 右后 sbit left1=P2^0;//四路寻迹左一探头 sbit left2=P2^1; sbit right1=P2^2; sbit right2=P2^3;//从左到右依次为左二左一，右一右二 sbit middle=P2^4; sbit left_front1=P1^0;//四个电机的io口 sbit left_front2=P1^1; sbit right_front1=P1^2; sbit right_front2=P1^3; sbit left_back1=P1^4; sbit left_back2=P1^5; sbit right_back1=P1^6; sbit right_back2=P1^7; uchar t=0; uint num,z; long int miao=0; long int v; long int M1,s; long int M=0; uchar bai,shi,ge,bait,shit,get; void T1_init()//用于产生调pwm { TMOD=0x10; TH1=(65536-50)/256; TL1=(65536-50)%256; EA=1; ET1=1; TR1=1; } void timer1() interrupt 3//频率20k，pwm { TH1=(65536-50)/256; TL1=(65536-50)%256; t++; if(t<pwmA) {ENA=1;} else {ENA=0;} if(t<pwmB) {ENB=1;} else {ENB=0;} if(t<pwmC) {ENC=1;} else {ENC=0;} if(t<pwmD) {END=1;} else {END=0;} if(t>=100) {t=0;} } void straight() { left_front1=1; left_front2=0; pwmA=99;//60 TR1=1; right_front1=1; right_front2=0; pwmB=99;//35 TR1=1; left_back1=1; left_back2=0; pwmC=99;//35 TR1=1; right_back1=1; right_back2=0; pwmD=99;// TR1=1; } void stop() { left_front1=1; left_front2=1; right_front1=1; right_front2=1; left_back1=1; left_back2=1; right_back1=1; right_back2=1; } void lefts()//小幅度左转 { left_front1=0; left_front2=0; pwmA=15; right_front1=1; right_front2=0; pwmB=80; left_back1=0; left_back2=0; pwmC=20; right_back1=1; right_back2=0; pwmD=80; } void leftq()//大幅度左转 { left_front1=0; left_front2=1; pwmA=15; right_front1=1; right_front2=0; pwmB=50; left_back1=0; left_back2=1; pwmC=15; right_back1=1; right_back2=0; pwmD=50; } void rights() { left_front1=1; left_front2=0; pwmA=60; right_front1=1; right_front2=0; pwmB=25; left_back1=1; left_back2=0; pwmC=60; right_back1=1; right_back2=0; pwmD=20; } void rightq() { left_front1=1; left_front2=0; pwmA=50; right_front1=0; right_front2=1; pwmB=15; left_back1=1; left_back2=0; pwmC=50; right_back1=0; right_back2=1; pwmD=15; } void xunji() { uchar flag; if((left1==1)&&(left2==1)&&(middle==0)&&(right1==1)&&(right2==1)||(left1==0)&&(left2==1)&&(middle==0)&&(right1==0)&&(right2==1)) { flag=1;//直行 } else if((left1==1)&&(left2==1)&&(middle==1)&&(right1==0)&&(right2==1)||(left1==1)&&(left2==1)&&(middle==0)&&(right1==0)&&(right2==1)) { flag=2; //已轻微左转，需右转 } else if((left1==1)&&(left2==1)&&(middle==1)&&(right1==1)&&(right2==0)||(left1==1)&&(left2==1)&&(middle==1)&&(right1==0)&&(right2==0)) { flag=3; //已大左偏，需右转 } else if((left1==0)&&(left2==1)&&(middle==1)&&(right1==1)&&(right2==1)||(left1==0)&&(left2==1)&&(middle==0)&&(right1==1)&&(right2==1)) { flag=4; //已轻微右转，需左转 } else if((left1==1)&&(left2==0)&&(middle==1)&&(right1==1)&&(right2==1)||(left1==0)&&(left2==0)&&(middle==1)&&(right1==1)&&(right2==1)) { flag=5; //已大右转 ，需左转 } else if((left1==0)&&(left2==0)&&(middle==1)&&(right1==0)&&(right2==0)||(left1==0)&&(left2==0)&&(middle==0)&&(right1==0)&&(right2==0)) { flag=6; } else if((left1==1)&&(left2==1)&&(middle==1)&&(right1==1)&&(right2==1)) { flag=7; } switch (flag) { case 1:straight(); break; case 2:rights(); break; case 3:rightq(); break; case 4:lefts(); break; case 5:leftq(); break; case 6:stop(); break; case 7: if((flag==2)||(flag==3)) {flag=0;rightq();} if((flag==4)||(flag==5)) {flag=0;leftq();} if((flag==1)) {flag=0;straight();} default:break; } } void delay(uint xms) { uint a,b; for(a=xms;a>0;a--) for(b=120;b>0;b--) ; } void write_com(uchar com) { lcden=0; lcdrs=0; lcdrw=0; lcd=com; delay(1); lcden=1; delay(5); lcden=0; } void write_data(uchar dat) { lcden=0 ; lcdrs=1; lcdrw=0; lcd=dat; delay(1); lcden=1; delay(5); lcden=0; } void lcdinit() { write_com(0x38); write_com(0x0c); write_com(0x06); write_com(0x01); } void T0_init() { TMOD = 0x01; ET0=1;//打开T0中断 EA=1; TH0 =(65536-45872)/256; TL0 =(65536-45872)%256; // TR0=1; } void int_init()//外部中断0初始化 { IT0=1;//跳变有效 EX0=1;//打开外部中断0 EA=1; } void my_INT0(void) interrupt 0//外部中断0用于测速 { M1=M1++;//统计外部中断的次数 } void timer0() interrupt 1 { TR0=0;//停止t0 TH0=(65536-45872)/256; TL0=(65536-45872)%256; num++; if(num==20) { s=M1/0.85;//没产生一个中断轮子转过0.85cm 3.14*6.50/24.00=0.85; miao++; num=0; } TR0=1;//启动T0 } void display() { write_com(0x80); for(z=0;z<5;z++) { write_data(table3[z]); delay(5); } write_com(0x86); write_data('0'+bai); write_data('0'+shi); write_data('0'+ge); write_com(0x89); for(z=0;z<4;z++) { write_data(table1[z]); delay(5); } write_com(0x80+0x40); for(z=0;z<4;z++) { write_data(table4[z]); delay(5); } write_com(0x80+0x46); write_data('0'+bait); write_data('0'+shit); write_data('0'+get); write_com(0x80+0x49); for(z=0;z<1;z++) { write_data(table2[z]); delay(5); } } void main() { T0_init(); T1_init(); int_init(); lcdinit(); TR0=1; while(1) { if ((left1==0)&&(left2==0)&&(middle==0)&&(right1==0)&&(right2==0)) break; else {xunji();} } TR0=0;//关闭定时器中断，停止计数和测距 // TR0=1; stop(); //delay(500); while(1) { v=s*8/miao; bai=v/100; shi=v%100/10;ge=v%10; bait=miao/8/100; shit=miao/8%100/10; get=miao/8%10; display(); } }