智能循迹避障小车完整程序(亲测好使)
/*******************************************
//利用51定时器产生PWM波来调节电机速度
//速度变化范围从0-100可调
//使用三路做寻迹使用,哪一路检测在黑线哪一路为
//高电平
//没检测到黑线表示有反射 对应输出低电平信号
*********************************************/
#include
#define uint unsigned int
#define uchar unsigned char
/*电机四个接口定义*/
sbit in1=P0^0;
sbit in2=P0^1;
sbit in3=P0^2;
sbit in4=P0^3;
/*计时器*/
uchar j,k,i,a,A1,A2,second,minge,minshi;
sbit dula=P2^6;
sbit wela=P2^7;
uchar code table[]={0x3f,0x06,0x5b,0x4f,
0x66,0x6d,0x7d,0x07,
0x7f,0x6f,0x77,0x7c,
0x39,0x5e,0x79,0x71};
uchar code table2[]={0xbf,0x86,0xdb,0xcf,
0xe6,0xed,0xfd,0x87,
0xff,0xef,0xf7,0xfc,
0xb9,0xde,0xf9,0xf1};
void delay(uchar i)
{
for(j=i;j>0;j--)
for(k=110;k>0;k--);
}
void display(uchar sh_c,uchar g_c,uchar min_ge,uchar min_shi)
{
dula=1;
P0=table[sh_c];
dula=0;
P0=0xff;
wela=1;
P0=0xfb;
wela=0;
delay(5);
dula=1;
P0=table[g_c];
dula=0;
P0=0xff;
wela=1;
P0=0xf7;
wela=0;
delay(5);
dula=1;
P0=table[min_shi];
dula=0;
P0=0xff;
wela=1;
P0=0xfe;
wela=0;
delay(5);
dula=1;
P0=table2[min_ge];
dula=0;
P0=0xff;
wela=1;
P0=0xfd;
wela=0;
delay(5);
}
/*左、中、右三路循迹传感器接口定义*/
sbit zuo=P1^0;
sbit zhong=P1^1;
sbit you=P1^2;
/*避障接口定义*/
sbit bz_zuo=P1^3;
sbit bz_zhong=P1^4;
sbit bz_you=P1^5;
uchar count = 0;
/*利用定时器0定时中断,产生PWM波*/
void Init_timer()
{
TH0 = (65535-10)/256;
TL0 = (65535-10)%256;
TMOD = 0x01;
TR0 = 1;
ET0 = 1;
EA = 1;
}
/*左轮速度调节程序*/
void zuolun(uchar speed)
{
} if(count
void youlun(uchar speed) //同上
{
if(count
{
in3 = 1;
in4 = 0;
}
else
{
in3 = 0;
in4 = 1;
}
}
void Inline() //检测黑线信号
{
uchar temp;
temp =P1;
switch(temp)
{
case 0x01:zuolun(0); youlun(90);break; //左侧循迹传感器压线,小车向左前修正 case 0x02:zuolun(100);youlun(100);break; //中间循迹传感器压线,保持直走 此处两值使电机速度保持相同
case 0x04:zuolun(90); youlun(0);break; //右侧循迹传感器压线,小车向右前修正 case 0x08:zuolun(90); youlun(0);break; //左侧避障传感器有信号小车右转 case 0x10:zuolun(90); youlun(0);break; //中间避障传感器有信号小车左转 case 0x20:zuolun(90); youlun(0);break; //右侧避障传感器有信号小车左转
}
/*
if(zuo==1)
{
zuolun(10);
youlun(50);
}
else if(zhong==1)
{
zuolun(99);
youlun(99);
}
else if(you==1)
{
zuolun(50);
youlun(10);
} */
}
void main() //主函数
{
Init_timer(); //调用函数
while(1)
{
Inline();
minge=0;
minshi=0;
second++;
if(second==60)
second=0,minge++;
A1=second/10;
A2=second%10;
if(minge==10)
minge=0,minshi++;
for(a=200;a>0;a--)
{
display(A1,A2,minge,minshi);
};
}
}
void Timer0_int()interrupt 1 //定时器中断计数 {
TH0 = (65535-10)/256;
TL0 = (65535-10)%256;
count ++;
if(count >= 100)
{
count = 0;
}
}