为什么这个pwm调不了速度，而是会停了在动，现在测试的是循迹前两个，大神帮我改进... -

标题: 为什么这个pwm调不了速度，而是会停了在动，现在测试的是循迹前两个，大神帮我改进... [打印本页]

作者: zq啊啊啊 时间: 2018-12-10 12:39
标题: 为什么这个pwm调不了速度，而是会停了在动，现在测试的是循迹前两个，大神帮我改进...
#include<reg52.h>
#define uchar unsigned char
#define uint usigned int
//???????????
#define zuo_qian IN1 = 1; IN2 = 0
#define zuo_hou  IN1 = 0; IN2 = 1
#define you_qian IN3 = 0; IN4 = 1
#define you_hou  IN3 = 1; IN4 = 0
//????????λ??
sbit zuo = P0^1;
sbit zhong = P0^2;
sbit you = P0^3;
//????in1~4,????io??
sbit IN1 = P1^1;
sbit IN2 = P1^2;
sbit IN3 = P1^3;
sbit IN4 = P1^4;
sbit ENA = P1^5;
sbit ENB = P1^6;
sbit led = P1^0;

//????????
uchar zkb_zuo = 0;
uchar zkb_you = 0;
uchar t = 0;
void timer()
{
TMOD = 0x01; //????????λ????????
TH0 = (65535-100)/256;
TH0 = (65535-100)%256;
ET0 = 1;
TR0 = 1;
}
//??pwm???ε??????100???ж??????ж?100us?????pwm??????????????б???zkb_????
void timer0() interrupt 1
{
TH0 = (65535-100)/256;//?????趨???
TH0 = (65535-100)%256;
if(t<zkb_zuo)//?????????t????????????????????
  ENA = 1;
else
  ENA = 0;//?????1/100
if(t<zkb_you)//?????????t????????????????????
  ENB = 1;
else
  ENB = 0;//?????1/100
t++;
if(t>=100)
  t = 0;
}
/*//???????????????????????????????????????
??1 ??1  ??1
  0  1  1  ????? ?????
  0  0  1  ????? С????
  1  0  1  ???
  1  0  0  ????? С????
  1  1  0  ????? ?????
*/
void xunji()
{
if((zuo==1)&&(zhong==0))
{
  zkb_zuo = 100;
  zkb_you = 100;
  zuo_hou;
  you_qian;
  led = 0;
}
else if((zuo==1)&&(zhong==1))
{
  zkb_zuo = 40;
  zkb_you = 100;
  zuo_qian;
  you_qian;
  led = 1;
}
/* if((zuo==0)&&(zhong==1))
{
  led = 0;
}
else if((zuo==0)&&(zhong==0))
{
  led = 1;
}
else if((zuo==0)&&(zhong==1)&&(you==1))
{
  zkb_zuo = 20;
  zkb_you = 100;
  zuo_hou;
  you_qian;
}
else if((zuo==1)&&(zhong==0)&&(you==1))
{
  zkb_zuo = 80;
  zkb_you = 80;
  zuo_qian;
  you_qian;
}
else if((zuo==1)&&(zhong==0)&&(you==0))
{
  zkb_zuo = 20;
  zkb_you = 100;
  zuo_qian;
  you_hou;
}
else if((zuo==1)&&(zhong==1)&&(you==0))
{
  zkb_zuo = 100;
  zkb_you = 100;
  zuo_qian;
  you_hou;
} */
}

void main()
{
timer();//??????????
EA=1;//?????ж?
while(1)
{
  xunji();
}
}

作者: zq啊啊啊 时间: 2018-12-11 08:19
急救大神，我是小白，想弄个循迹小车

作者: 天下为家129 时间: 2018-12-11 09:46
我也是小白，请问差速的程序是怎样写的啊？比如要写左转，左边的轮子速度20，右边的轮子速度80，请问要怎样写。求大神指教。

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