PWM程序控制小车单片机源程序

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PWM程序控制小车
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1. #include<reg52.h>
   
2. 
   
3. sbit rs=P0^0;
   
4. sbit rw=P0^1;
   
5. sbit en=P0^2;
   
6. 
   
7. sbit sensera=P1^0;
   
8. sbit senserb=P1^1;
   
9. sbit senserc=P1^2;
   
10. sbit senserd=P1^3;
    
11. sbit in1=P1^4;
    
12. sbit in2=P1^5;
    
13. sbit in3=P1^6;
    
14. sbit in4=P1^7;
    
15. 
    
16. int left_low,left_high,right_low,right_high;
    
17. 
    
18. unsigned char leftsign,rightsign;
    
19. unsigned char leftback,rightback;
    
20. void timer0init()
    
21. {
    
22.     TMOD=0x01;
    
23. TH0=0x00;
    
24. TL0=0x00;
    
25. EA=1;
    
26. ET0=1;
    
27. TR0=1;
    
28. 
    
29. }
    
30. void timer0(void) interrupt 1
    
31. {
    
32. if(leftback)
    
33. {
    
34.    leftsign=!leftsign;
    
35.    if(!leftsign)
    
36.    {
    
37.     TH0 =(65536-left_low)/256;
    
38.     TL0 =(65536-left_low)%256;
    
39.     in1=0;
    
40.     in2=0;
    
41.    }
    
42.    if(leftsign)
    
43.    {
    
44.     TH0=(65536-left_high)/256;
    
45.     TL0=(65536-left_high)%256;;
    
46.     in1=1;           //µ¹×ª
    
47.     in2=0;
    
48.    }
    
49. }
    
50. else
    
51. {
    
52.    leftsign=!leftsign;
    
53.    if(!leftsign)
    
54.    {
    
55.     TH0=(65536-left_low)/256;
    
56.     TL0=(65536-left_low)%256;
    
57.     in1=0;
    
58.     in2=0;
    
59.    }
    
60.    if(leftsign)
    
61.    {
    
62.     TH0=(65536-left_high)/256;
    
63.     TL0=(65536-left_high)%256;;
    
64.     in1=0;
    
65.     in2=1;
    
66.    }
    
67. }  
    
68. }
    
69. void timer1init()
    
70. {
    
71.     TMOD=0x10;
    
72. TH1=0x00;
    
73. TL1=0x00;
    
74. EA=1;
    
75. ET1=1;
    
76. TR1=1;
    
77. }
    
78. void timer1(void) interrupt 3
    
79. { if(rightback)
    
80. {
    
81.    rightsign=!rightsign;
    
82.    if(!rightsign)
    
83.    {
    
84.     TH1=(65536-right_low)/256;
    
85.     TL1=(65536-right_low)%256;
    
86.     in3=0;
    
87.     in4=0;
    
88.    }
    
89.    if(rightsign)
    
90.    {
    
91.     TH1=(65536-right_high)/256;
    
92.     TL1=(65536-right_high)%256;
    
93.     in3=1;
    
94.     in4=0;
    
95.    }
    
96. }
    
97. else
    
98. {
    
99.    rightsign=!rightsign;
    
100.    if(!rightsign)
     
101.    {
     
102.     TH1=(65536-right_low)/256;
     
103.     TL1=(65536-right_low)%256;
     
104.     in3=0;
     
105.     in4=0;
     
106.    }
     
107.    if(rightsign)
     
108.    {
     
109.     TH1=(65536-right_high)/256;
     
110.     TL1=(65536-right_high)%256;
     
111.     in3=0;
     
112.     in4=1;
     
113.    }
     
114. }  
     
115. }
     
116. void testsenser() //×ó Ö± ÓÒ Í£ ºó£¨01234£©´ó¹Õ С¹Õ ÎÞÒâÒ壨310£©
     
117. {
     
118.   if((sensera==0&&senserb==0&&senserc==0&&senserd==1)||(sensera==0&&senserb==1&&senserc==1&&senserd==1)) // ÓÒ´ó¹Õ
     
119.   {
     
120.    leftback=0;
     
121.   rightback=1;
     
122.   ET0=1;
     
123.   ET1=1;
     
124.   left_high=20000;
     
125.   left_low=40000;
     
126.   right_high=20000;
     
127.   right_low=40000;
     
128.   }
     
129. 
     
130.   else if((sensera==0&&senserb==0&&senserc==1&&senserd==1)||(sensera==0&&senserb==0&&senserc==1&&senserd==0))//  ÓÒС¹Õ
     
131.   {
     
132.    leftback=0;
     
133.   rightback=1;
     
134.   ET0=1;
     
135.   ET1=1;
     
136.   left_high=20000;
     
137.   left_low=40000;
     
138.   right_high=10000;
     
139.   right_low=40000;
     
140.   }
     
141.   else if((sensera==1&&senserb==0&&senserc==0&&senserd==0)||(sensera==1&&senserb==1&&senserc==1&&senserd==0))  // ×ó´ó¹Õ
     
142.   {
     
143.    leftback=1;
     
144.   rightback=0;
     
145.   ET0=1;
     
146.   ET1=1;
     
147.    left_high=20000;
     
148.   left_low=40000;
     
149.   right_high=20000;
     
150.   right_low=40000;
     
151.   }
     
152.   else if((sensera==1&&senserb==1&&senserc==0&&senserd==0)||(sensera==0&&senserb==1&&senserc==0&&senserd==0))    // ×óС¹Õ
     
153.   {
     
154.    leftback=1;
     
155.   rightback=0;
     
156.   ET0=1;
     
157.   ET1=1;
     
158.    left_high=10000;
     
159.   left_low=40000;
     
160.   right_high=20000;
     
161.   right_low=40000;
     
162.   }
     
163.   else if(sensera==1&&senserb==1&&senserc==1&&senserd==1)// Í£
     
164.   {
     
165.    leftback=0;
     
166.   rightback=0;
     
167.   ET0=0;
     
168.   ET1=0;
     
169.      in1=0;
     
170.      in2=0;
     
171.      in3=0;
     
172.   in4=0;
     
173.   }
     
174.   else if(sensera==0&&senserb==0&&senserc==0&&senserd==0)// ºóÍË
     
175.   {
     
176.    leftback=1;
     
177.   rightback=1;
     
178.   ET0=1;
     
179.   ET1=1;
     
180.    left_high=10000;
     
181.   left_low=50000;
     
182.   right_high=10000;
     
183.   right_low=50000;
     
184.   }
     
185.   else  //Ö±×ß
     
186.   {
     
187.    leftback=0;
     
188.   rightback=0;
     
189.   ET0=1;
     
190.   ET1=1;
     
191.    left_high=10000;
     
192.   left_low=50000;
     
193.   right_high=20000;
     
194.   right_low=50000;
     
195.   }   
     
196. }
     
197. 
     
198. 
     
199.            
     
200. void main()
     
201. {
     
202. timer0init();
     
203. timer1init();
     
204. while(1)
     
205.   testsenser();
     
206. }
     

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