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標題: 基于51單片機智能小車尋跡程序 [打印本頁]

作者: thisway 時間: 2018-5-4 22:46
標題: 基于51單片機智能小車尋跡程序
#include<reg52.h>
#define uchar unsigned char
#define uint unsigned int
uchar temp,signal,tt1,t0,t1,t2,t3,t4,t5,t6;

void delay_1ms(uint d)
{
uint i;
while(d--)
      for(i=0;i<75;i++);
}

void motor_run()          //電機起動
{
   P1=0x35;
delay_1ms(200);
P1=0x53;
delay_1ms(10);
/* ENA=1;

OUT1=0;

OUT2=1;
delay_1ms(800);
OUT2=0;
delay_1ms(200);

ENB=1;

OUT4=0;

OUT3=1;
delay_1ms(800);
OUT3=0;
delay_1ms(200);
*/
}
void motor_left()          //左進
{
P1=0x30;
delay_1ms(200);
P1=0x00;
delay_1ms(20);
}

void motor_right()          //右進
{
P1=0x05;
delay_1ms(200);
P1=0x00;
delay_1ms(20);
}

void motor_big_right()          //粗右進
{
P1=0x55;
delay_1ms(200);
P1=0x00;
delay_1ms(20);
}
void motor_big_left()
{
P1=0x33;
delay_1ms(200);
P1=0x00;
delay_1ms(20);
}
void motor_stop()                   //電機停止
{
   P1=0x00;
}
void motor_back()
{
P1=0x53;
}
void main()
{
t0=0;
t1=0;
t2=0;
t3=0;
t4=0;
t5=0;
t6=0;

tt1=0;
EA=1;
ET1=1;
TR1=1;
TMOD=0x01;
TH1=-(1000/256);
TL1=-(1000%256);
while(1)
{

      temp=P2;
      signal=temp&0xff;          //得到紅外反向信號
      switch(signal)
      {
         case 0xff:    //無偏差
            motor_run();
            t0++;
            if(t0==10)
            {
                  t0=0;
                  motor_left();
                  motor_right();
            }
            t1=t2=t3=t4=t5=t6=0;
            break;
         case 0xfd:    //1輪右偏

            motor_big_left();
            t1++;
            if(t1==4)
            {
                  t1=0;
                  motor_left();
            }
            t0=t2=t3=t4=t5=t6=0;
            break;
         case 0xef:       //4輪左偏

            motor_big_right();
            t2++;
            if(t2==4)
            {
                  t2=0;
                  motor_right();
            }
            t0=t1=t3=t4=t5=t6=0;
            break;
         case 0xfb:    //2輪右偏出軌
         case 0xf9:    //1、2輪右偏
               motor_big_left();
            t3++;
            if(t3==4)
            {
                  t3=0;
                  motor_left();
            }
            t0=t1=t2=t4=t5=t6=0;
//             delay_1ms(10);
            break;

         case 0xdf:    //5左偏出軌
         case 0xcf:    //4、5輪左偏
               motor_big_right();
            t4++;
            if(t4==4)
            {
                  t4=0;
                  motor_right();
            }
            t0=t1=t2=t3=t5=t6=0;
//             delay_1ms(10);
            break;

         case 0xfe:    //0最右偏出軌
         case 0xfa:
               motor_big_left();
            t5++;
            if(t5==1)
            {
                  t5=0;
                  motor_left();
                  motor_left();
            }
            t0=t1=t2=t3=t4=t6=0;
//             delay_1ms(10);
            break;

         case 0xbf:    //6最左偏出軌
         case 0x9f:
            motor_big_right();
            t6++;
            if(t6==1)
            {
                  t6=0;
                  motor_right();
                  motor_right();
            }
            t0=t1=t2=t3=t4=t5=0;
//             delay_1ms(10);
            break;

         case 0xeb:    //前兩傳感器壓在黑線上
         case 0xdb:    //后兩傳感器壓在黑線上
         case 0xbe:    //中間兩傳感器壓在黑線上
         case 0xac:       //前四傳感器壓在黑線上
         case 0x9a:       //后四傳感器壓在黑線上
            motor_back();
            delay_1ms(200);
            motor_stop();

//             delay_1ms(1000);

         default:
//             motor_back();
//             delay_1ms(50);
//             motor_left();
//             motor_right();
            break;
      }
}

}

/*void time1() interrupt 3
{

TH1=-(1000/256);
TL1=-(1000%256);
tt1++;
if(tt1==300)
{
      motor_back();
// delay_1ms(1);
      tt1=0;
}
} */

作者: 123456qwert6 時間: 2021-1-8 13:11
這個程序是什么意思uchar temp,signal,tt1,t0,t1,t2,t3,t4,t5,t6;

作者: 123456qwert6 時間: 2021-1-8 13:12
這個程序設計有六個輪子嗎

歡迎光臨 (http://www.zg4o1577.cn/bbs/)

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