用超声波模块制作小车，通过pwm调速程序 -

标题: 用超声波模块制作小车，通过pwm调速程序 [打印本页]

作者: wts123 时间: 2015-10-27 22:24
标题: 用超声波模块制作小车，通过pwm调速程序
#include<AT89X52.h>
#define uint unsigned int
#define uchar unsigned char
sbit Trig=P3^2;
sbit Echo=P3^4;
sbit s1=P1^4;
sbit s2=P1^5;
sbit s3=P1^6;
sbit s4=P1^7;
sbit dianji01=P0^0;
sbit dianji02=P0^1;
sbit dianji03=P0^2;
sbit dianji04=P0^3;
sbit  ENA=P0^4;
sbit  ENB=P0^5;
int  S=0,c,N;
int pwm1=16,pwm2=16;
int flag;
void delay(uint i)
{
   uchar j;
   while(i--)
   for(j=0;j<120;j++);

}
void keyscan01()
{
   if(s1==0)
   {
   delay(50);
   if(s1==0)
   {

if(pwm1<32)
{
pwm1++;

}
}
}

   if(s2==0)
   {
   delay(50);
   if(s2==0)
   {

if(pwm1>1)
{
pwm1--;

}
}
}
   if(pwm1>flag)
{
   dianji01=1;
}
else
   {
dianji01=0;
}

}
void keyscan02()
{
if(s3==0)
   {
   delay(50);
   if(s3==0)
   {

if(pwm2<32)
{
pwm2++;
}
}
}

   if(s4==0)
   {
   delay(50);
   if(s4==0)
   {

if(pwm2>1)
{
pwm2--;

}
}
}
if(flag<pwm2)
{

   dianji02=1;

}
else
{
   dianji02=0;
   }
}
void init()
{
// ET0=1;
   ET1=1;
   EA=1;
   TH1=0XFE;
   TL1=0X00;
   TR1=1;
}
void main()
{

   int i=4;
   int Time,time;
   int LED[10]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f};
   ENA=1;
   ENB=1;
   dianji01=1;
   dianji02=0;
   dianji03=1;
   dianji04=0;
   TMOD&=0xF0;
   TMOD|=0x01;
   TMOD=0X01;
   init();
while(1)
{

Trig=1;
   i=10;
   while(i--);
   Trig=0;
   TH0=0;
   TL0=0;
   time=0;
   while(Echo==0&&(time++<50000));
   TR0=1;
   time=0;
   while(Echo==1&&(time++<50000));
TR0=0;
   Time=TH0*256+TL0;
S=Time/58;
if(S>5&&S<20)
{
   dianji01=0;
   delay(50);
if(S>5&&S<20)
   dianji01=0;
   delay(50);
dianji01=1;
}

}
keyscan01();
keyscan02();
}
void interrupr() interrupt 3
{
   TR1=0;
   TH1=0XFE;
   TL1=0X00;
   TR1=1;
   flag++;
   if(flag>32)
   {
   flag=0;
}

}

作者: wlq19911021a 时间: 2015-10-28 12:44
好啊，不错，不错

作者: 45555mkkl 时间: 2016-1-14 13:19
还不错

作者: 裤衩青年 时间: 2018-12-21 21:03
请问楼主你这个程序是四轮驱动的么

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