智能寻迹小车51单片机控制程序

ID:218007 · 发表于 2017-7-7 22:38

#include <reg52.h>
#include "car.h"       //自己编写的头文件，里面有函数声明

/********************************/
/*             清空电机控制IO位                      */
/********************************/
void CleanRun()
{
      left_a = 0;
      left_b = 0;
      right_a = 0;
      right_b = 0;
}

/********************************/
/*       根据接收到的数据，控制小车       */
/********************************/
void Run()
{
      uchar delaytime = 50;                                              //前进、后退、侧向前进的延时时间
      uchar little_delaytime = 22;             //转弯的延时时间
      switch(recvbuf)
                              {
                                    case 0x01:       //前进
                                    {
                                             left_a = 1;                                              //正转
                                             left_b = 0;
                                             right_a = 1;                                     //正转
                                             right_b = 0;
                                             delayms(delaytime);
                                             break;
                                    }
                                    case 0x02:       //后退
                                    {
                                             left_a = 0;                                              //反转
                                             left_b = 1;
                                             right_a = 0;                                     //反转
                                             right_b = 1;
                                             delayms(delaytime);
                                             break;
                                    }
                                    case 0x03:       //左转
                                    {
                                             left_a = 0;                                              //不转
                                             left_b = 0;
                                             right_a = 1;                                     //正转
                                             right_b = 0;
                                             delayms(little_delaytime);
                                             break;
                                    }
                                    case 0x04:       //右转
                                    {
                                             left_a = 1;                                              //正转
                                             left_b = 0;
                                             right_a = 0;                                     //不转
                                             right_b = 0;
                                             delayms(little_delaytime);
                                             break;
                                    }
                                    case 0x05:       //前左方向运行
                                    {
                                             right_a = 1;                                     //正转
                                             right_b = 0;
                                             left_b = 0;                                              //半速正转
                                             StartPwm(lefta);                      //开启定时器，设定产生PWM的引脚
                                             delayms(delaytime);             //延时一段时间
                                             StopPwm();                                              //关闭定时器
                                             break;
                                    }
                                    case 0x06:       //前右方向运行
                                    {
                                             left_a = 1;                                              //正转
                                             left_b = 0;
                                             right_b = 0;                                     //半速正转
                                             StartPwm(righta);
                                             delayms(delaytime);
                                             StopPwm();
                                             break;
                                    }
                                    case 0x07:       //后左方向运行
                                    {
                                             right_a = 0;                                     //后转
                                             right_b = 1;
                                             left_a = 0;                                              //半速后转
                                             StartPwm(leftb);
                                             delayms(delaytime);
                                             StopPwm();
                                             break;
                                    }
                                    case 0x08:       //后右方向运行
                                    {
                                             left_a = 0;                                              //后转
                                             left_b = 1;
                                             right_a = 0;                                     //半速后转
                                             StartPwm(rightb);
                                             delayms(delaytime);
                                             StopPwm();
                                             break;
                                    }
                                    case 0x09:       //原地顺时针旋转
                                    {
                                             left_a = 1;
                                             left_b = 0;
                                             right_a = 0;
                                             right_b = 1;
                                             delayms(delaytime);
                                             break;
                                    }
                                    case 0x0a:       //原地逆时针旋转
                                    {
                                             left_a = 0;
                                             left_b = 1;
                                             right_a = 1;

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