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發(fā)大家整個(gè)電磁智能車的程序
單片機(jī)源程序如下:
- #include "includes.h"
- sbit Motor_EN=P2^1;
- sbit LED1=P4^4;
- sbit LED2=P4^5;
- unsigned char a=0;
- extern unsigned int AD0[6]; //保留六次數(shù)據(jù)
- extern float Speed; //小車轉(zhuǎn)速 在cepin.c中定義
- void delay(unsigned short k) //延時(shí)
- {
- unsigned short i,j;
- for(i=0;i<k;i++)
- for(j=0;j<2000;j++);
- }
- void main()
- {
- WDTCN=0XDE; //關(guān)閉看門狗
- WDTCN=0XAD;
-
- OSCILLATOR_Init(); //系統(tǒng)時(shí)鐘初始化，內(nèi)部時(shí)鐘的2倍
- GPIO_Init(); //引腳初始化
- TIM0_Init(); //定時(shí)器0初始化，產(chǎn)生舵機(jī)用的低頻PWM
- PCA0_Init(); //產(chǎn)生直流電機(jī)用的PWM
- TIM1_Init(); //用于防止小車撞墻
- TIM3_Init(); //定時(shí)器3初始化，用于ADC連續(xù)測量
- ADC0_Init();
- Init_EXT1(); //檢測起跑線
- Frequent_Measure_Init();
- SPI_Init();
- EA=1;
- LCD_Init();
- LCD_Clear_Screen();
- // Motor_Duty(60);
- // DuoJi_Angle(108.9);
- Motor_EN=1;
-
- while(1)
- {
- LCD_Display_Num(1,0,AD0[0]);
- LCD_Display_Num(1,64,AD0[3]);
- LCD_Display_Num(3,0,AD0[1]);
- LCD_Display_Num(3,64,AD0[4]);
- LCD_Display_Num(5,0,AD0[2]);
- LCD_Display_Num(5,64,AD0[5]);
- LCD_Display_Str(7,0,"Speed:");
- LCD_Display_Num(7,48,(unsigned int)Speed);
- if((AD0[0]<300)||(AD0[1]<300)||(AD0[2]<300)||(AD0[3]<300)||(AD0[4]<300)||(AD0[5]<300))
- {
- TR1=1;
- }
- delay(300);
- }
- }
- void TIM1_Init(void)
- {
- char SFRPAGE_SAVE = SFRPAGE; // Save Current SFR page
- SFRPAGE = TIMER01_PAGE;
-
-
- TMOD=0X10;
-
- CKCON |=0X01; //系統(tǒng)時(shí)鐘的4分頻 //定時(shí)器0時(shí)鐘為外部時(shí)鐘8分頻
-
- TH1=0X10; //5ms初值時(shí)間
- TL1=0Xbe;
-
- ET1=1;//打開定時(shí)器0中斷
- // TR1=1;//打開定時(shí)器0
-
- SFRPAGE = SFRPAGE_SAVE; // Restore SFR page
- }
- void TIM1_ISR()interrupt 3
- {
- char SFRPAGE_SAVE = SFRPAGE; // Save Current SFR page
- SFRPAGE = TIMER01_PAGE;
- a++;
- TH1=0X10; //5ms初值時(shí)間
- TL1=0Xbe;
- if(a==400)
- {
- a=0;
- TR1=0;
- if((AD0[0]<300)||(AD0[1]<300)||(AD0[2]<300)||(AD0[3]<300)||(AD0[4]<300)||(AD0[5]<300))
- Motor_EN=0;
- }
- SFRPAGE = SFRPAGE_SAVE; // Restore SFR page
- }
- ……………………
- …………限于本文篇幅 余下代碼請從51黑下載附件…………
所有資料51hei提供下載:
36組源程序.zip
(105.99 KB, 下載次數(shù): 27)
2018-1-9 18:34 上傳
點(diǎn)擊文件名下載附件
下載積分: 黑幣 -5
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