基于51单片机的四传感器的智能小车循迹

ID:295220 · 发表于 2018-6-4 21:45

#include <reg52.h>
sbit IN1=P0^0;
sbit IN2=P0^1;
sbit IN3=P0^2;
sbit IN4=P0^3;
sbit L_PWM=P0^4;
sbit R_PWM=P0^5;
sbit hongwai_l1=P2^2;
sbit hongwai_r1=P2^3;
sbit hongwai_l2=P2^4;
sbit hongwai_r2=P2^5;
#define uint unsigned int
#define uchar unsigned char
unsigned char l_tt=0;
unsigned char l_Lpwm=3;
unsigned char l_Rpwm=3;
void timer0()interrupt 1 using 2 //¶¨Ê±Æ÷ÖÐ¶Ï1£¬ÓÃµÚ2×é¼Ä´æÆ÷
{
      TH0=0XFC;
      TL0=0X18;
      l_tt++;
      if(l_tt>9)l_tt=0;

      if(l_tt<=l_Lpwm){
               L_PWM=1;
      }
      else{
            L_PWM=0;
      }
      if(l_tt<=l_Rpwm){
            R_PWM=1;
      }
      else{
            R_PWM=0;
      }
}

void delay1ms(uint i)
{
uint t;
for(;i>0;i--)
{
  for(t=110;t>0;t--);
}
}

void main(void)
{

      EA=1;
      TMOD|=0X11;
      TH0= 0XFC;
      TL0= 0X14;
      TR0= 1;
      ET0= 1;

      while(1){
               if(hongwai_l1==0&&hongwai_r1==0)
      {
      IN1=1;
      IN2=0;
      IN3=1;
      IN4=0;
      delay1ms(10);
      }
      if(hongwai_l1==1&&hongwai_r1==1)
      {

      IN1=1;
      IN2=1;
      IN3=1;
      IN4=1;
      delay1ms(200);
      IN1=0;
      IN2=1;
      IN3=0;
      IN4=1;
      delay1ms(200);

      }
      if(hongwai_l1==1&&hongwai_r1==0)
      {
         IN1=1;
      IN2=1;
      IN3=1;
      IN4=0;
      delay1ms(10);
      }
      if(hongwai_l1==0&&hongwai_r1==1)
      {
         IN1=1;
      IN2=0;
      IN3=1;
      IN4=1;
      delay1ms(10);
      }
               if(hongwai_l2==1)
      {
      while(1)
      {
      IN1=0;
      IN2=1;
      IN3=1;
      IN4=0;
         if(hongwai_l1==1)
         break;
      }
      }
            if(hongwai_r2==1)
      {
      while(1)
      {
      IN1=1;
      IN2=0;
      IN3=0;
      IN4=1;
      if(hongwai_r1==1)
      break;
      }
      }
      }
}

ID:229756 · 发表于 2018-6-8 20:37

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基于51单片机的四传感器的智能小车循迹

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