基于STC89C52单片机的红外线遥小车实现源码

ID:280773 · 发表于 2018-2-12 09:40

基于STC89C52单片机的小车实现

责任描述：
一、完成小车的原理设计和焊接。
二、用Keil4编写单片机实现了五个功能：1.红外线遥控前进后退转弯功能。2.小车地面寻迹功能。3.超声波感应避障功能。4.光敏感应行走功能。

ps:最后有文档源代码。

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源代码.docx (14.22 KB, 下载次数: 21)

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单片机源程序：

#include <REGX52.H>
#include <intrins.h>
sbit LeftLed=P2^0;
sbit RightLed=P0^7;
sbit FontLled=P1^7;
sbit LeftIR=P3^5;
sbit RightIR=P3^6;
sbit FontIR=P3^7;
sbit M1A=P0^0;
sbit M1B=P0^1;
sbit M2A=P0^2;
sbit M2B=P0^3;
sbit B1=P0^4;
sbit SB1=P0^6;
sbit IRIN=P3^3;
unsigned char code LedShowData[]={0x03,0x9F,0x25,0x0D,0x99,
0x49,0x41,0x1F,0x01,0x19};//0,1,2,3,4,5,6,7,8,9
unsigned char code RecvData[]={0x19,0x46,0x15,0x43,0x44,0x40,0x0D,0x0E,0x00,0x0F};
unsigned char IRCOM[7];
static unsigned int LedFlash;
bit EnableLight=0;
#define ShowPort P2
unsigned char temp = 1;
void tingzhi()
{
M1A=0;
M1B=0;
M2A=0;
M2B=0;
}
void qianjin()
{
M1A=1;
M1B=0;
M2A=1;
M2B=0;
}
void houtui()
{
M1A=0;
M1B=1;
M2A=0;
M2B=1;
}
void zuozhuan()
{
M1A=0;
M1B=1;
M2A=1;
M2B=0;
}
void youzhuan()
{
M1A=1;
M1B=0;
M2A=0;
M2B=1;
}
void Delay1ms(unsigned int i)
{
unsigned char j,k;
do{
j = 10;
do{
k = 50;
do{
_nop_();
}while(--k);
}while(--j);
}while(--i);
}
void delay_nus(unsigned int i)
{
i=i/10;
while(--i);
}
void delay_nms(unsigned int n)
{
n=n+1;
while(--n)
delay_nus(900);
}
void delayms(unsigned char x)
{
unsigned char i;
while(x--)
{
for (i = 0; i<13; i++) {}
}
}
void Delay()
{
unsigned int DelayTime=30000;
while(DelayTime--);
return;
}
void ControlCar(unsigned char ConType)
{
tingzhi();
switch(ConType)
{
case 1: //前进
{
//tingzhi();
//Delay1ms(50);
LeftLed = 0 ;
qianjin();
break;
}
case 2: //后退
{
// tingzhi();
// Delay1ms(50);
LeftLed = 1 ;
houtui();
break;
}
case 3: //左转
{
//tingzhi();
// Delay1ms(50);
zuozhuan();
break;
}
case 4: //右转
{
// tingzhi();
// Delay1ms(50);
youzhuan();
break;
}
case 8: //停止
{
tingzhi();
break;
}
}
}
void ControlCar_yaokong(unsigned char ConType)
{
tingzhi();
switch(ConType)
{
case 1: //前进
{
tingzhi();
Delay1ms(150);
LeftLed = 0 ;
qianjin();
break;
}
case 2: //后退
{
tingzhi();
Delay1ms(150);
LeftLed = 1 ;
houtui();
break;
}
case 3: //左转
{
tingzhi();
Delay1ms(150);
zuozhuan();
break;
}
case 4: //右转
{
tingzhi();
Delay1ms(150);
youzhuan();
break;
}
case 8: //停止
{
tingzhi();
break;
}
}
}
void Robot_Avoidance()
{
LeftLed=LeftIR;
RightLed=RightIR;
FontLled= FontIR;
SB1=FontIR;
if(FontIR == 0)
{
ControlCar(8);
delay_nms (300);
ControlCar(2);
delay_nms (1000);
ControlCar(3);
delay_nms (1800);
}
else
{
ControlCar(1);
delay_nms (10);
}
ControlCar(1);
}
//机器人循迹子程序
void Robot_Traction()
{
LeftLed=LeftIR;
RightLed=RightIR;
FontLled= FontIR;
SB1=LeftIR;
if(LeftIR == 0 && RightIR == 0)
{
ControlCar(1);
delay_nms (10);
}
else if(LeftIR == 0 && RightIR == 1)
{
ControlCar(3);
delay_nms (10);
}
else if(LeftIR == 1 && RightIR == 0)
{
ControlCar(4);
delay_nms (10);
}
ControlCar(8);
}
void main()
{
bit RunFlag=0;
LedFlash=3000;
//EX1=1;
IT1=1;
EA=1;
ControlCar(8);
while(1)
{
if(P3_2 == 0)
{
delay_nms(10);
if(P3_2 == 0)
{
temp++;
while(!P3_2);
}
}
if(temp > 3)
{
temp = 1;
}
switch(temp)
{
case 1: ShowPort = LedShowData[1];Robot_Traction();EX1 = 0;break;
case 2: ShowPort = LedShowData[2];Robot_Avoidance();EX1 = 0;break;
case 3: ShowPort = LedShowData[3];EX1 = 1;break;
}
}
}
//----------红外遥控-------------------------------------------------------------
void IR_IN() interrupt 2 using 0
{
unsigned char j,k,N=0;
EX1 = 0;
delayms(15);
if (IRIN==1)
{
EX1 =1;
return;
}
while (!IRIN)
{
delayms(1);
}
for (j=0;j<4;j++)
{
for (k=0;k<8;k++)
{
while (IRIN)
{
delayms(1);
}
while (!IRIN)
{
delayms(1);
}
while (IRIN)
{
delayms(1);
N++;
if (N>=30)
{
EX1=1;
return;
}
}
IRCOM[j]=IRCOM[j] >> 1;
if (N>=8)
{
IRCOM[j] = IRCOM[j] | 0x80;
}
N=0;
}
}
if (IRCOM[2]!=~IRCOM[3])
{
EX1=1;
return;
}
for(j=0;j<10;j++)
{
if(IRCOM[2]==RecvData[j])
{
// ControlCar(j);
ControlCar_yaokong(j);
}
}
EX1 = 1;
}
//-------------------------------------------------------------------------------------------------------

复制代码

ID:493533 · 发表于 2019-4-11 14:57

调速的怎么改啊

ID:462827 · 发表于 2019-4-12 19:21

小车是买成品还是散件自己装？

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