Altium Designer画的循迹智能车原理图和PCB图如下：(51hei附件中可下载工程文件)
单片机源程序如下:
- #include "reg52.h"
- #define uchar unsigned char
- #define uint unsigned int
- sbit in1=P1^2;
- sbit in2=P1^3;
- sbit in3=P1^4;
- sbit in4=P1^5;
- sbit c1=P2^3;
- sbit c2=P2^2;
- sbit c3=P2^1;
- sbit c4=P2^0;
- sbit c5=P2^7;
- sbit c6=P2^6;
- sbit c7=P2^5;
- sbit c8=P2^4;
- sbit D = P0^3;
- uchar count=0;
- uchar temp = 0;
- uchar dj;
- uchar flag = 0;
- uchar speed_lfte = 0;
- uchar speed_right =0;
- void time0_init(void)
- {
- TMOD=0x11;
- TH0=0xFF;
- TL0=0xA4;
- TH1=(65536-100)/256;
- TL1=(65536-100)%256;
- TR0=1;//计数
- ET0=1;
- TR1=1;
- ET1=1;
- EA=1;
- }
- uchar ljsb(void)
- {
- if((c1==1)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0) )
- return 1;
- if((c1==0)&&(c2==1)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0) )
- return 2;
- if((c1==0)&&(c2==0)&&(c3==1)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0) )
- return 3;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==1)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0) )
- return 4;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==1)&&(c5==1)&&(c6==0)&&(c7==0)&&(c8==0) )
- return 5;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==1)&&(c6==0)&&(c7==0)&&(c8==0) )
- return 6;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==1)&&(c7==0)&&(c8==0) )
- return 7;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==1)&&(c8==0) )
- return 8;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==1) )
- return 9;
- // if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0) )
- // return 10;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==1) )
- return 11;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==1)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==0) )
- return 12;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==1)&&(c8==1) )
- return 13;
- // if((c1==0)&&(c2==0)&&(c3==1)&&(c4==1)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==1) )
- // return 99;
- if((c1==1)&&(c2==1)&&(c3==1)&&(c4==1)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==1) )
- return 14;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==1)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==0) )
- return 20;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==1)&&(c5==1)&&(c6==1)&&(c7==0)&&(c8==0) )
- return 21;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==1)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==1) )
- return 22;
- if((c1==0)&&(c2==0)&&(c3==1)&&(c4==1)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==0) )
- return 23;
- if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==0) )
- return 24;
- /* if((c3==1)&&(c4==1)&&(c5==1)&&(c6==1))
- { Delay_Nms(1);
- if((c3==0)||(c4==0)||(c5==0)||(c6==0))
- return 10;
- } */
- return 0;
所有资料51hei提供下载:
智能车 - 副本.rar
(1.78 MB, 下载次数: 26)
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