51单片机循迹小车代码部分

ID:1128116 · 发表于 2024-7-4 13:23

主逻辑需要自己改写
#include <reg52.h>
#include <intrins.h>
typedef unsigned int u16;
typedef unsigned char u8;
int  a=0;
sbit ENA = P1^6;
sbit IN1 = P1^0;
sbit IN2 = P1^1;
sbit IN3 = P1^2;
sbit IN4 = P1^3;
sbit ENB = P1^4;

void Timer0Init();
void XunJi();
void delay(unsigned int t);
sbit zuo1 = P0^0;
sbit zuo2 = P0^1;
sbit zhong = P0^2;
sbit you1 = P0^3;
sbit you2 = P0^4;

u8 PWMCnt1 = 0;
u8 PWMCnt2 = 0;
u8 cntPWM1 = 0;
u8 cntPWM2 = 0;

void main()
{
      Timer0Init();
      while(1)
      {
            XunJi();
      }
}

void Timer0Init()
{
      TH0 = 0xFF;
      TL0 = 0xA3;
      TMOD &= 0xF0;
      TMOD |= 0x01;
      EA = 1;
      ET0 = 1;
      TR0 = 1;
}
void TurnRight1()
{
      IN1 = 0;
      IN2 = 1;

      IN3 = 0;
      IN4 = 1;
      cntPWM1 = 70;
      cntPWM2       = 55;
}

void TurnRight2()
{
      IN1 = 0;
      IN2 = 1;

      IN3 = 0;
      IN4 = 1;
      cntPWM1 = 50;
      cntPWM2       = 40;
}

void TurnLeft1()
{
      IN1 = 1;
      IN2 = 0;

      IN3 = 1;
      IN4 = 0;
      cntPWM1 = 55;
      cntPWM2       = 70;
}

void TurnLeft2()
{
      IN1 = 1;
      IN2 = 0;

      IN3 = 1;
      IN4 = 0;
      cntPWM1 = 40;
      cntPWM2       = 50;
}

void Forward()
{
      IN1 = 1;
      IN2 = 0;

      IN3 = 0;
      IN4 = 1;

      cntPWM1 = 42;
      cntPWM2       = 54;
}

void Backward()
{
      IN1 = 0;
      IN2 = 1;

      IN3 = 1;
      IN4 = 0;
      cntPWM1 = 30;
      cntPWM2       = 30;
}

void Stop()
{
      IN1 = 0;
      IN2 = 0;
      IN3 = 0;
      IN4 = 0;
}
void XunJi()

{
      unsigned char flag = 0;

      if((zuo1 == 0)&&(zuo2 == 0)&&(zhong == 1)&&(you2 == 0)&&(you1 == 0)) //0 0 1 0 0
            flag = 0;
if((zuo1 == 0)&&(zuo2 == 0)&&(zhong == 0)&&(you2 == 0)&&(you1 == 0)) //0 0 0 0 0
            flag = 6;

//       if((zuo1 == 0)&&(zuo2 == 1)&&(zhong == 1)&&(you2 == 1)&&(you1 == 0)) //0 1 1 1 0
//             flag = 0;
//
////       if((zuo1== 1)&&(zuo2 == 1)&&(zhong == 1)&&(you2 == 1)&&(you1 == 1)) //1 1 1 1 1
////       {a=a+1;}
////       if(zuo1== 1)
////       {a=0;}
//
//       if((zuo1 == 1)&&(zuo2 == 1)&&(zhong == 1)&&(you2 == 0)&&(you1 == 0)) //1 1 1 0 0
//             flag = 1;
//
//       if((zuo1 == 0)&&(zuo2 == 0)&&(zhong == 1)&&(you2 == 1)&&(you1 == 0)) //0 0 1 1 0
//             flag = 2;
//
//       if((zuo1 == 0)&&(zuo2 == 0)&&(zhong == 1)&&(you2 == 0)&&(you1 == 1)) //0 0 1 0 1
//             flag = 2;
//
//       if((zuo1 == 0)&&(zuo2 == 1)&&(zhong == 1)&&(you2 == 1)&&(you1 == 1)) //0 1 1 1 1
//             flag = 3;
//
//       if((zuo1 == 0)&&(zuo2 == 0)&&(zhong == 1)&&(you2 == 1)&&(you1 == 1)) //0 0 1 1 1
//             flag = 3;
//
//       if((zuo1 == 0)&&(zuo2 == 1)&&(zhong == 1)&&(you2 == 0)&&(you1 == 0)) //0 1 1 0 0
//             flag = 4;
//
//       if((zuo1 == 1)&&(zuo2 == 0)&&(zhong == 1)&&(you2 == 0)&&(you1 == 0)) //1 0 1 0 0
//             flag = 4;
//
//       if((zuo1 == 0)&&(zuo2 == 0)&&(zhong == 0)&&(you2 == 0)&&(you1 == 0)) //1 0 1 0 1
//             flag = 0 ;
//
//       if((zuo1 == 1)&&(zuo2 == 1)&&(zhong == 1)&&(you2 == 0)&&(you1 == 1)) //1 1 1 0 1
//             flag = 1;
//
//       if((zuo1 == 1)&&(zuo2 == 0)&&(zhong == 1)&&(you2 == 1)&&(you1 == 1)) //1 0 1 1 1
//             flag = 3;

//       if((zuo1 == 1)&&(zuo2 == 1)&&(zhong == 0)&&(you2 == 0)&&(you1 == 0)) //1 1 0 0 0
//             flag = 2;
//
//       if((zuo1 == 0)&&(zuo2 == 0)&&(zhong == 0)&&(you2 == 1)&&(you1 == 1)) //0 0 0 1 1
//             flag = 4;
//
//       if((zuo1 == 0)&&(zuo2 == 0)&&(zhong == 0)&&(you2 == 0)&&(you1 == 0)) //0 0 0 0 0
//             flag = 5;

      switch(flag)

{while(1)
            case 0:Forward();break;//Ö±ÐÐ
            case 1:TurnLeft1();break;//×ó¿ì
            case 2:TurnLeft2();break;//×óÂý
            case 3:TurnRight1();break;//ÓÒ¿ì
            case 4:TurnRight2();break;//ÓÒÂý
            case 5:Backward();break;//»ØÍË
            case 6:Stop();break;
            default:Stop();break;
      }
}

void delay(unsigned int t)//ÑÓ
      {
while(t--);
}

void InterruptTime0() interrupt 1
{
      PWMCnt1++;
      PWMCnt2++;

      if(PWMCnt1  >= 200)
      {
            PWMCnt1 = 0;
      }
      if(PWMCnt1 <= cntPWM1)
      {
            ENA = 1;
      }
      else
      {
            ENA = 0;
      }

      if(PWMCnt2 >= 200)
      {
            PWMCnt2 = 0;
      }
      if(PWMCnt2 <= cntPWM2)
      {
            ENB = 1;
      }
      else
      {
            ENB = 0;
      }

      TH0 = (65536 - 50)/256;
      TL0 = (65536 - 50)%256;
}

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