避障循迹小车制作（有舵机）多图 -

#include <reg52.h>
#define uint unsigned int
#define uchar unsigned char
/********常量声明********/
#define uint unsigned int
/********方法声明********/
void Init();
void Delay10us(); //@12.000MHz
void Run();
void ToLeft();
void ToRight();
void ToForward();
void ToBack();
void KeyScan();
/********针脚声明********/
sbit Left_Lamp = P1^0; //左转向灯
sbit Right_Lamp = P1^1; //右转向灯
sbit Forward_Lamp = P1^2; //前进大灯
sbit Back_Lamp = P1^3; //后退大灯
sbit Left_Switch = P1^4; //左转向按键主要用于测试控制左转左转向灯变亮
sbit Right_Switch = P1^5; //右转向按键主要用于测试控制右转右转向灯变亮
sbit Forward_Switch = P1^6; //前进按键主要用于测试控制前进前进灯变亮
sbit Back_Switch = P1^7; //后退按键主要用于测试控制后退后退灯变亮
/********电机驱动针脚********/
sbit P2_0 = P2^0;
sbit P2_1 = P2^1;
sbit P2_2 = P2^2;
sbit P2_3 = P2^3;
sbit P2_4 = P2^4;
sbit P2_5 = P2^5;
sbit P2_6 = P2^6;
sbit P2_7 = P2^7;
/********电机动作定义********/
#define Left_Moto_Go {P2_0=1, P2_1=0, P2_2=1, P2_3=0;} //左边两个电机向前走
#define Left_Moto_Back {P2_0=0, P2_1=1, P2_2=0, P2_3=1;} //左边两个电机向后转
#define Left_Moto_Stop {P2_0=0, P2_1=0, P2_2=0, P2_3=0;} //左边两个电机停转
#define Right_Moto_Go {P2_4=1, P2_5=0, P2_6=1, P2_7=0;} //右边两个电机向前走
#define Right_Moto_Back {P2_4=0, P2_5=1, P2_6=0, P2_7=1;} //右边两个电机向前走
#define Right_Moto_Stop {P2_4=0, P2_5=0, P2_6=0, P2_7=0;} //右边两个电机停转
uint Left_Switch_Flag = 0; //左转向按下标志
uint Right_Switch_Flag = 0; //右转向按下标志
uint Forward_Switch_Flag = 0; //前进按下标志
uint Back_Switch_Flag = 0; //后退按下标志
/********主函数********/
void main()
{
Init();
while(1)
{
Run();
}
}
/********系统初始化********/
void Init()
{
}
/********开始运行********/
void Run()
{
KeyScan();
if (Left_Switch_Flag)
{
ToLeft();
}else
{
Left_Lamp = 1;
}
if (Right_Switch_Flag)
{
ToRight();
}else
{
Right_Lamp = 1;
}
if (Forward_Switch_Flag)
{
ToForward();
}else
{
Forward_Lamp = 1;
}
if (Back_Switch_Flag)
{
ToBack();
}else
{
Back_Lamp = 1;
}
}
/********按键判断函数********/
void KeyScan()
{
if (Left_Switch == 0) //左转向按下
{
Delay10us();
if (Left_Switch == 0)
{
while(Left_Switch==0); //等待按键抬起
Left_Switch_Flag = !Left_Switch_Flag;
Right_Switch_Flag = 0;
Forward_Switch_Flag = 0;
Back_Switch_Flag = 0;
}
}
if (Right_Switch == 0) //右转向按下
{
Delay10us();
if (Right_Switch == 0)
{
while(Right_Switch==0); //等待按键抬起
Left_Switch_Flag = 0;
Right_Switch_Flag = !Right_Switch_Flag;
Forward_Switch_Flag = 0;
Back_Switch_Flag = 0;
}
}
if (Forward_Switch == 0) //前进按下
{
Delay10us();
if (Forward_Switch == 0)
{
while(Forward_Switch==0); //等待按键抬起
Forward_Switch_Flag = !Forward_Switch_Flag;
Left_Switch_Flag = 0;
Right_Switch_Flag = 0;
Back_Switch_Flag = 0;
}
}
if (Back_Switch == 0) //后退向按下
{
Delay10us();
if (Back_Switch == 0)
{
while(Back_Switch==0); //等待按键抬起
Back_Switch_Flag = !Back_Switch_Flag;
Forward_Switch_Flag = 0;
Left_Switch_Flag = 0;
Right_Switch_Flag = 0;
}
}
}
/********小车向左左转向灯闪烁右侧电机正转运行左侧电机停止 ********/
void ToLeft()
{
Right_Lamp = 1; //右转向灯
Forward_Lamp = 1; //前进大灯
Back_Lamp = 1; //后退大灯
Left_Moto_Stop; //左侧电机停止
Right_Moto_Go; //右侧电机前行
Delay10us();
Left_Lamp = ~Left_Lamp; //左转向灯
}
/********小车向右右转向灯亮起右侧电机停止左侧电机正转运行********/
void ToRight()
{
Left_Lamp = 1; //左转向灯
Forward_Lamp = 1; //前进大灯
Back_Lamp = 1; //后退大灯
Left_Moto_Go; //左侧电机前行
Right_Moto_Stop; //右侧电机停止
Delay10us();
Right_Lamp = ~Right_Lamp; //右转向灯
}
/********小车前行前行灯亮起右侧电机正转运行左侧电机正转运行********/
void ToForward()
{
Left_Lamp = 1; //左转向灯
Right_Lamp = 1; //右转向灯
Forward_Lamp = 0; //前进大灯
Back_Lamp = 1; //后退大灯
Left_Moto_Go; //左侧电机前行
Right_Moto_Go; //右侧电机前行
}
/********小车后退后退灯亮起右侧电机反转运行左侧电机反转运行********/
void ToBack()
{
Left_Lamp = 1; //左转向灯
Right_Lamp = 1; //右转向灯
Forward_Lamp = 1; //前进大灯
Back_Lamp = 0; //后退大灯
Left_Moto_Back; //左侧电机后退
Right_Moto_Back; //右侧电机后退
}
/********小车停止灯全灭掉右侧电机停止左侧电机停止********/
void Stop()
{
Left_Lamp = 1; //左转向灯
Right_Lamp = 1; //右转向灯
Forward_Lamp = 1; //前进大灯
Back_Lamp = 0; //后退大灯
Left_Moto_Stop; //左侧电机停止
Right_Moto_Stop; //右侧电机停止
}
/********延时函数********/
void Delay10us() //@12.000MHz
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