基于51单片机的四驱寻迹小车代码

ID:959863 · 发表于 2021-8-18 11:28

#include <reg51.h>

sbit ENA = P2^0;                   //右
sbit IN1 = P2^1; //右
sbit IN2 = P2^2;

sbit IN3 = P2^3; // 左
sbit IN4 = P2^4;
sbit ENB = P2^5;                   //左          //电驱端口配置

sbit left = P1^2;
sbit middle =P1^1;
sbit right =P1^0;    //循迹

unsigned char zkb1 = 0;//定义了一下左边两个轮的占空比
unsigned char zkb2 = 0;//定义了一下右边两个轮的占空比

int t = 0;

void PIT_Init()  //初始化
{

EA = 1;
TMOD |= 0x01;
TH0 = (65536 - 200) / 256;
TL0 = (65536 - 200) % 256;
ET0 = 1;
TR0 = 1;
}

void timer()interrupt 1 // pwm
{
  TH0 = (65536-200)/256;
  TL0 = (65536-200)%256;

if(t<zkb1)
{
ENA = 1;
}
else
{
ENA = 0;
}

if(t<zkb2)
{
ENB = 1;
}
else

{
ENB = 0;
}

t = (t + 1) %50;
}

void run()
{
zkb1  = 20;
zkb2  = 20;

IN1 = 0; //右轮正转
IN2 = 1;

IN3 = 1; // 左轮正转
IN4 = 0;
}

void stop(void)
{ zkb1 = 0;
zkb2 = 0;
IN1  = 0;
IN2  = 0;
IN3  = 0;
IN4  = 0;
}

void leftrun(void)
{
zkb1 = 35;
zkb2 = 35;

IN1=0;
IN2=1; //右轮正转

IN3=0 ;//左轮反转
IN4=1;
}

void rightrun(void)
{
zkb1 = 35;
zkb2 = 35;

IN1=1; //右轮反转
IN2=0;

IN3=1;
IN4=0; //左轮正转
}

void xunji()//检测到黑线为1高电平
{
if( (left == 1)&&(middle == 1)&&(right==1) )
{
run();
}
if( (left ==0 )&&(middle == 1)&&(right==0) )
{
run();
}
if( (left ==0 )&&(middle == 0)&&(right==0) )
{
run();
}

if( (left == 0)&&(middle == 1)&&(right==1) )
{
   rightrun();
}
if( (left == 0)&&(middle == 0)&&(right==1) )
{
rightrun();
}

if( (left == 1)&&(middle == 1)&&(right==0) )
{
leftrun();
}
if( (left == 1)&&(middle == 0)&&(right==0) )
{
leftrun();
}
if( (left == 1)&&(middle == 0)&&(right==1) )
{
leftrun();
}

}

void main()
{
run();
PIT_Init();
zkb1 = 20  ;
zkb2 = 20  ;
run();
while(1)
{
  xunji();

}
}

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基于51单片机的四驱寻迹小车代码

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