STC8单片机-循迹小车软件驱动PWM源码

ID:382440 · 发表于 2018-8-3 10:23

#include <stc8.h>
sbit IN4 = P0^0;
sbit IN3 = P0^1;
sbit ENB = P2^1;
sbit IN2 = P0^2;
sbit IN1 = P0^3;
sbit ENA = P2^2;
sbit IN4h = P0^4;
sbit IN3h = P0^5;
sbit ENBh = P1^6;
sbit IN2h = P0^6;
sbit IN1h = P0^7;
sbit ENAh = P1^7;

sbit left0 = P3^2;
sbit right0 = P3^3;

unsigned char zkb0 = 0;
unsigned char zkb1 = 0;
unsigned char t = 0;

void Init()
{
P0M1 = 0x00;
      P0M0 = 0xff;
      P1M1 = 0x00;
      P1M0 = 0xc0;
P2M1 = 0x00;
      P2M0 = 0x06;
      P3M1 = 0x0c;
      P3M0 = 0x00;  //配置对应I/o口的工作方式

      IP &=~0x08;
IPH &=~0x08;
      TMOD |= 0x00;//将定时器0配置成模式0，优先级(00)最低
      TH0 =(65536-100)/256;
      TL0 =(65536-100)%256;
      ET0 =1;
      EA =1;
      TR0 =1;
}

void timer0() interrupt 1
{
if(t< zkb0)
      {
         if(t%2==0)
                     {
                        ENB =1;
                              ENBh =1;
                     }
                     else
                     {
                        ENB =0;
                              ENBh=0;
                     }
            ENB =1;
                        ENBh =1;

      }
      else
      {
         ENB =0;
         ENBh =0;
      }
      if(t<zkb1)
      {
            if(t%2==0)
                                    {
                                                      ENA =1;
                                                      ENAh =1;
                                    }
                                    else
                                    {
                                    ENA =0;
                              ENAh =0;
                                    }
                                    ENA =1;
                                    ENAh =1;
      }
      else
      {
            ENA =0;
                  ENAh =0;
      }
         ++t;
      if(t>=50)
      {
         t=0;
      }


}

void turn_left0()
{
zkb0 =13;
zkb1 =0;
}
void turn_right0()
{
zkb0 =0;
      zkb1 =13;

}
void runing()
{
zkb0=8;
      zkb1=8;

}

void xunji()
{
                     unsigned char flag;
                              if((right0 == 0)&&(left0 == 0))
                              {
                                    flag = 0;
                              }
                              if((right0 == 1)&&(left0 == 0))
                              {
                                    flag = 1;
                              }
                              if((right0 == 0)&&(left0 == 1))
                              {
                                    flag = 2;
                              }
                              switch(flag)
                              {
                                    case 0:runing();break;

                                    case 1:turn_right0();break;

                                    case 2:turn_left0();break;

                                    default:runing();break;
      }

}
void main()
{
      Init();
      IN1 = 0;
      IN2 = 1;
  IN3 = 0;
  IN4 = 1;
      IN1h = 0;
      IN2h = 1;
  IN3h = 0;
  IN4h = 1;
      while(1)
      {

                     xunji();

      }
}

ID:1 · 发表于 2018-8-3 15:44

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