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標(biāo)題: 51單片機(jī)超聲波避障思路 [打印本頁]

作者: liuwwe 時(shí)間: 2018-10-17 15:35
標(biāo)題: 51單片機(jī)超聲波避障思路
/*óÃ¶¨ê±Æ÷/¼ÆêyÆ÷1¤×÷·½ê½3￡¬tl0Î»¿ØÖÆpwmÕ¼¿Õ±è￡¬óÃth0Î»2aá¿3¬éù2¨¸ßμçÆ½3ÖDøê±¼ä*/

#include"reg52.h"
#include"us015.h"
sbit PWM=P2^5;
typedef unsigned char u8;
typedef unsigned int u16;
u16 count,Time;
void delay2s(void) //Îó2î 0us
{
unsigned char a,b,c,n;
for(c=167;c>0;c--)
      for(b=39;b>0;b--)
         for(a=152;a>0;a--);
for(n=1;n>0;n--);
}
void Time3Init(){
   TMOD=0X03;
   TH0=256-200;
   TL0=256-250;
   ET0=1;
   ET1=1;
   EA=1;
   TR0=1;
   TR1=1;
}
void Timemath(){
      delay(500);
      US015main();
if(distance<=200){
      Time=2;
      delay2s();
      US015main();
               if(distance<=200){
            Time=10;
            delay2s();
            US015main();
            if(distance<=200){Time=6;}//oóíË
            else{Time=6;}//oóÃæ½ó×aÏò¿ØÖÆ
            return;
      }
      else{Time=6;}  //oóÃæ½ó×aÏò¿ØÖÆ
      return;
         }
         else{Time=6;} //¼ìDøÇ°½ø
return;
         delay(1000);
}

void main(){
   Time3Init();
   while(1){
      Time=6;
      Timemath();
   }
}
void Timer2() interrupt 3
{ TL0=256-250;
count++;
if(count<=Time){
PWM=1;
}
else{PWM=0;}
if(count>=80){
count=0;
TL0=256-250;
}
}

us015.c
#include"us015.h"
#include"intrins.h"
uint count0,Time0,distance,disp[4];

uchar code smgduan[17]={
0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,
0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71};

void delay(uchar tep){    //Ñóê±oˉêy
      while(tep--);
}
void us015_Start(){ //3õê¼»ˉoˉêy
      Trig=0;
      Echo=0;
      Trig=1;    //Ñóê±12us￡¬òaÇó′óóú10us
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      _nop_();
      Trig=0;
}
void Digdisplay(){
      uchar i;
      disp[0]=smgduan[distance%1000%100%10];    //¸ö
      disp[1]=smgduan[distance%1000%100/10];    //ê®
      disp[2]=smgduan[distance%1000/100];//°ù
      disp[3]=smgduan[(distance/1000)]; //Ç§
      for(i=0;i<4;i++){
      switch(i){
           case 0:LSA=0,LSB=0,LSC=0;break;
           case 1:LSA=1,LSB=0,LSC=0;break;
           case 2:LSA=0,LSB=1,LSC=0;break;
   case 3:LSA=1,LSB=1,LSC=0;break;
      }
      P0=disp[i];
      delay(100);
      P0=0x00;
      }

}
void US015main(){
      uint i,tp;
      TH0=256-200;
      count0=0;
      us015_Start();
      while(!Echo){;}
      TR0=1;
      while(Echo){;}
      TR0=0;
      tp=TH0-56;
      TH0=0;
      Time0=tp+count0*200;
      distance=(long)(Time0*0.171); //2aá¿μÄ¾ààë
      for(i=50;i>0;i--){
      Digdisplay();}
}
void Timer3()interrupt 1
{
   count0++;
   TH0=256-200;
   if(count0>=400){
   TR0=0;
   count0=0;
   TH0=256-200;
   }
}

us015.h
#ifndef _US015_H_
#define _US015_H_

#include"reg52.h"

#ifndef uchar
#define uchar unsigned char
#endif

#ifndef uint
#define uint unsigned int
#endif

sbit Trig=P2^0;
sbit Echo=P2^1;
sbit LSA=P2^2;
sbit LSB=P2^3;
sbit LSC=P2^4;
void delay(uchar tep);
void us015_Start();
void Digdisplay();
void US015main();
void Timer3();

extern uint distance;

#endif

作者: admin 時(shí)間: 2018-10-17 16:03
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