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標(biāo)題: 智能小車循跡程序 [打印本頁]

作者: 123321gjx 時(shí)間: 2019-3-30 17:24
標(biāo)題: 智能小車循跡程序

#include<reg52.h>

#define uchar unsigned char

#define uint unsigned int

#define m0 1//黑線m1,白線m0

#define m1 0

#define full_speed_left 40 //方便調(diào)節(jié)各個(gè)狀態(tài)的占空比,可用參數(shù)組: (30,35,6,25,30,68000,27000,500);

#define full_speed_right 45 //(40,45,6,25,30,68000,27000,500);

#define correct_speed 6 //校正時(shí)的低速輪的占空比

#define turn_speed_left 25

#define turn_speed_right 30

#define lenth 68000 //測(cè)試數(shù)據(jù):10000--》100--》500--》2000--80000--76000--68000 #define width 27000 //500--》10-->2000--》60000--30000---》27000

#define check_right 500 //2000--》20--》200--》500#define midl left1

#define midr right5

uchar Duty_left,Duty_right,i=0,j=0; //左右占空比標(biāo)志,取1--100

sbit IN1=P2^0;

sbit IN2=P2^1;

sbit IN3=P2^2;

sbit IN4=P2^3;

sbit ENA=P1^0;

sbit ENB=P1^1;

//循跡口五組紅外對(duì)管,依次對(duì)應(yīng)從左往右第1,2,3,4,5五組

sbit left1 =P1^6;

sbit left2 =P1^5;

sbit mid3 =P1^4;

sbit right4=P1^3;

sbit right5=P1^2;

void line_left();

void line_right();

void line_straight()reentrant;

//----------------------------------------

void delay(long int Delay_time)//延時(shí)函數(shù)

{

uint t=Delay_time;

while(t--);

}

//-----------------------------------------

void init() //定時(shí)器初始化

{

left1=m0; //初始化

left2=m0; //白線位置

mid3 =m1; //黑線位置

right4=m0;

right5=m0;

TMOD|=0x01;

TH0=(65536-66)/256;

TL0=(65536-66)%256;

EA=1;

ET0=1;

TR0=1;

ENA=1; //使能端口,初始化

ENB=1;

}

void time0(void)interrupt 1 //中斷程序

{

i++; //調(diào)速在中斷中執(zhí)行

j++;

if(i<=Duty_left)

ENA=1;

else ENA=0;

if(i>100)

{ENA=1;i=0;}

if(j<=Duty_right)

ENB=1;

else ENB=0;

if(j>100)

{ENB=1;j=0;}

TH0=(65536-66)/256; //取約150HZ,12M晶振,每次定時(shí)66us,分100次,這樣開頭定義的變量正好直接表示占空比的數(shù)值

TL0=(65536-66)%256;

}

//-----------------------------------------------

void correct_left()//向左校正,賦值

{

Duty_left =correct_speed;

Duty_right=full_speed_right;

IN1=1;

IN2=0;

IN3=1;

IN4=0;

}

//------------------------------------------------

void correct_right()//向右校正,賦值

{

Duty_left =full_speed_left;

Duty_right=correct_speed;

N1=1;

IN2=0;

IN3=1;

IN4=0;

}

//--------------------------------------------------

void turn_left()//左轉(zhuǎn),賦值

{

Duty_left =turn_speed_left;

Duty_right=turn_speed_right;

IN1=0; //轉(zhuǎn)彎時(shí)一個(gè)正轉(zhuǎn),一個(gè)反轉(zhuǎn),

IN2=1;

IN3=1;

IN4=0;

}

void turn_right()//右轉(zhuǎn),賦值

{

Duty_left =turn_speed_left;

Duty_right=turn_speed_right;

IN1=1; //轉(zhuǎn)彎時(shí)一個(gè)正轉(zhuǎn),一個(gè)反轉(zhuǎn),

IN2=0;

IN3=0;

IN4=1;

}

//-----------------------------------------------------

void straight() //直走,賦值

{

Duty_left =full_speed_left; //左右電機(jī)占空比初始化,調(diào)節(jié)直線運(yùn)動(dòng)速度

Duty_right=full_speed_right; //鑒于左右輪電機(jī)內(nèi)部阻力不同,故占空比取不同值,這組值需要單獨(dú)寫程序取值

IN1=1;

IN2=0;

IN3=1;

IN4=0;

}

//-----------------------------------------------------

void line_straight()reentrant //函數(shù)名后加reentrant可以遞歸調(diào)用,//一直走黑直線時(shí)

{

straight();

if(right5==m1){line_right();}

else

if(left1==m1){line_left();}

else

if(left2==m1) //防止校正時(shí),小車沖出過大,導(dǎo)致2,4號(hào)檢測(cè)管屏蔽了兩端檢測(cè)管的檢測(cè),避免其走直線時(shí)出軌

while(left2==m1)

{correct_left();

if(right5==m1)

{

line_right();

goto label3;

}

else if(left1==m1)

{line_left();

goto label3;}

}

else

if(right4==m1) //防止校正時(shí),小車沖出過大,導(dǎo)致2,4號(hào)檢測(cè)管屏蔽了兩端檢測(cè)管的檢測(cè),避免其走直線時(shí)出軌

while(right4==m1)

{correct_right();

if(right5==m1)

{correct_right();

if(right5==m1)

{ line_right(); goto label3;}

else if(left1==m1)

{line_left();goto label3;}

}

else

if((left1==m0)&&(left2==m0)&&(mid3==m0)&&(right4==m0)&&(right5==m0))

{

straight();

//delay(lenth);

while(right4==m0) //本來應(yīng)該是用mid3,但是為了提高靈敏度,選擇right4;向左時(shí),可取left2對(duì)管

{turn_right();}

if(mid3==m1)

{line_straight();}

label3: ; //什么都不做

}

//------------------------------------------------------------------------- void line_right() //右邊有黑線時(shí)

{

straight();//這里的直走是在不管紅外檢測(cè)結(jié)果的直行

delay(lenth);

if(mid3==m1)

{

turn_right();//執(zhí)行向右轉(zhuǎn)的賦值

label:delay(width); //由width值決定轉(zhuǎn)彎時(shí)mid3經(jīng)過黑線寬度時(shí)所需要的時(shí)間 if(mid3==m0)

while(right4==m0)

{}

else

goto label;

}

else

if(mid3==m0)

{

turn_right();

while(right4==m0)

{}

if(midr==m1)

{line_straight();}

}

//-----------------------------------------------------------------void line_left() //左邊出現(xiàn)黑線時(shí)

{

while(left1==m1)

{

if(right5==m1)

{

line_right();

goto label2;

}

delay(check_right);//左邊遇到黑線時(shí),左邊出了黑線之后,繼續(xù)延時(shí)一段時(shí)間,判斷右邊是否遇到黑線,

//若遇到黑線,執(zhí)行line_right()函數(shù)

if(right5==m1)

{

line_right();

goto label2;

}

delay(check_right);//左邊遇到黑線時(shí),左邊出了黑線之后,繼續(xù)延時(shí)一段時(shí)間,判斷右邊是否遇到黑線,

//若遇到黑線,執(zhí)行line_right()函數(shù)

if(right5==m1)

{

line_right();

goto label2;

}

if((mid3==m1)||(left2==m1)||(right4==m1)){line_straight();}

else

{

while(left2==m0)

{turn_left();}

if(midl==m1)

line_straight();

}

label2: ;

}

//--------------------------------------------------------------------

void detect_infrared() //循跡,紅外檢測(cè)

{

if(right5==m1){line_right();}

else

if(left1==m1){line_left();}

else

if(left2==m1){correct_left();}

else

if(right4==m1){correct_right();}

else

line_straight();

}

//--------------------------------------

void main(void)//主程序部分

{

init();

while(1) //循環(huán)檢測(cè)紅外對(duì)管采集的電平信號(hào)

{detect_infrared();}

}

作者: 單片小菜雞 時(shí)間: 2020-7-30 10:43
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