标题: PWM控制小车 [打印本页]

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作者: CrushC    时间: 2021-10-24 14:42
标题: PWM控制小车

#include<reg52.h>

sbitrs=P0^0;

sbitrw=P0^1;

sbiten=P0^2;

sbitsensera=P1^0;

sbitsenserb=P1^1;

sbitsenserc=P1^2;

sbitsenserd=P1^3;

sbitin1=P1^4;

sbitin2=P1^5;

sbitin3=P1^6;

sbitin4=P1^7;

intleft_low,left_high,right_low,right_high;

unsignedchar leftsign,rightsign;

unsignedchar leftback,rightback;

voidtimer0init()

{

    TMOD=0x01;

TH0=0x00;

TL0=0x00;

EA=1;

ET0=1;

TR0=1;

}

voidtimer0(void) interrupt 1

{

if(leftback)

{

   leftsign=!leftsign;

   if(!leftsign)

   {

    TH0 =(65536-left_low)/256;

    TL0 =(65536-left_low)%256;

    in1=0;

    in2=0;

   }

   if(leftsign)

   {

    TH0=(65536-left_high)/256;

    TL0=(65536-left_high)%256;;

    in1=1;           //μ1×a

    in2=0;

   }

}

else

{

   leftsign=!leftsign;

   if(!leftsign)

   {

    TH0=(65536-left_low)/256;

    TL0=(65536-left_low)%256;

    in1=0;

    in2=0;

   }

   if(leftsign)

   {

    TH0=(65536-left_high)/256;

    TL0=(65536-left_high)%256;;

    in1=0;

    in2=1;

   }

}  

}

voidtimer1init()

{

    TMOD=0x10;

TH1=0x00;

TL1=0x00;

EA=1;

ET1=1;

TR1=1;

}

voidtimer1(void) interrupt 3

{if(rightback)

{

   rightsign=!rightsign;

   if(!rightsign)

   {

    TH1=(65536-right_low)/256;

    TL1=(65536-right_low)%256;

    in3=0;

    in4=0;

   }

   if(rightsign)

   {

    TH1=(65536-right_high)/256;

    TL1=(65536-right_high)%256;

    in3=1;

    in4=0;

   }

}

else

{

   rightsign=!rightsign;

   if(!rightsign)

   {

    TH1=(65536-right_low)/256;

    TL1=(65536-right_low)%256;

    in3=0;

    in4=0;

   }

   if(rightsign)

   {

    TH1=(65536-right_high)/256;

    TL1=(65536-right_high)%256;

    in3=0;

    in4=1;

   }

}  

}

voidtestsenser() //×ó Ö± óò í￡ oó￡¨01234￡©′ó1Õ D¡1Õ ÎTòaòå￡¨310￡©

{

if((sensera==0&&senserb==0&&senserc==0&&senserd==1)||(sensera==0&&senserb==1&&senserc==1&&senserd==1))// óò′ó1Õ

  {

   leftback=0;

  rightback=1;

  ET0=1;

  ET1=1;

  left_high=20000;

  left_low=40000;

  right_high=20000;

  right_low=40000;

  }

  elseif((sensera==0&&senserb==0&&senserc==1&&senserd==1)||(sensera==0&&senserb==0&&senserc==1&&senserd==0))//  óòD¡1Õ

  {

   leftback=0;

  rightback=1;

  ET0=1;

  ET1=1;

  left_high=20000;

  left_low=40000;

  right_high=10000;

  right_low=40000;

  }

  elseif((sensera==1&&senserb==0&&senserc==0&&senserd==0)||(sensera==1&&senserb==1&&senserc==1&&senserd==0))  // ×ó′ó1Õ

  {

   leftback=1;

  rightback=0;

  ET0=1;

  ET1=1;

   left_high=20000;

  left_low=40000;

  right_high=20000;

  right_low=40000;

  }

  elseif((sensera==1&&senserb==1&&senserc==0&&senserd==0)||(sensera==0&&senserb==1&&senserc==0&&senserd==0))    // ×óD¡1Õ

  {

   leftback=1;

  rightback=0;

  ET0=1;

  ET1=1;

   left_high=10000;

  left_low=40000;

  right_high=20000;

  right_low=40000;

  }

  elseif(sensera==1&&senserb==1&&senserc==1&&senserd==1)// í￡

  {

   leftback=0;

  rightback=0;

  ET0=0;

  ET1=0;

     in1=0;

     in2=0;

     in3=0;

  in4=0;

  }

  else if(sensera==0&&senserb==0&&senserc==0&&senserd==0)//oóíË

  {

   leftback=1;

  rightback=1;

  ET0=1;

  ET1=1;

   left_high=10000;

  left_low=50000;

  right_high=10000;

  right_low=50000;

  }

  else //Ö±×ß

  {

   leftback=0;

  rightback=0;

  ET0=1;

  ET1=1;

   left_high=10000;

  left_low=50000;

  right_high=20000;

  right_low=50000;

  }   

}

           

voidmain()

{

timer0init();

timer1init();

while(1)

  testsenser();

}

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