单片机循迹小车程序

ID:1100946 · 发表于 2023-11-23 20:21

#include
#define uchar unsigned char
#define uint unsigned int
uchar temp,signal,tt1,t0,t1,t2,t3,t4,t5,t6;

void delay_1ms(uint d)
{
      uint i;
      while(d--)
            for(i=0;i<75;i++);
}

void motor_run()                //电机起动
{
      P1=0x35;
      delay_1ms(200);
      P1=0x53;
      delay_1ms(10);
/*       ENA=1;

      OUT1=0;

      OUT2=1;
      delay_1ms(800);
      OUT2=0;
      delay_1ms(200);

      ENB=1;

      OUT4=0;

      OUT3=1;
      delay_1ms(800);
      OUT3=0;
      delay_1ms(200);
*/
}
void motor_left()                      //左进
{
      P1=0x30;
      delay_1ms(200);
      P1=0x00;
      delay_1ms(20);
}

void motor_right()                //右进
{
      P1=0x05;
      delay_1ms(200);
      P1=0x00;
      delay_1ms(20);
}

void motor_big_right()                      //粗右进
{
      P1=0x55;
      delay_1ms(200);
      P1=0x00;
      delay_1ms(20);
}
void motor_big_left()
{
      P1=0x33;
      delay_1ms(200);
      P1=0x00;
      delay_1ms(20);
}
void motor_stop()                                     //电机停止
{
      P1=0x00;
}
void motor_back()
{
      P1=0x53;
}
void main()
{
      t0=0;
      t1=0;
      t2=0;
      t3=0;
      t4=0;
      t5=0;
      t6=0;

      tt1=0;
      EA=1;
      ET1=1;
      TR1=1;
      TMOD=0x01;
      TH1=-(1000/256);
      TL1=-(1000%256);
      while(1)
      {

               temp=P2;
            signal=temp&0xff;                //得到红外反向信号
            switch(signal)
            {
                     case 0xff:          //无偏差
                              motor_run();
                              t0++;
                              if(t0==10)
                              {
                                    t0=0;
                                    motor_left();
                                    motor_right();
                              }
                              t1=t2=t3=t4=t5=t6=0;
                              break;
                     case 0xfd:          //1轮右偏

                              motor_big_left();
                              t1++;
                              if(t1==4)
                              {
                                    t1=0;
                                    motor_left();
                              }
                              t0=t2=t3=t4=t5=t6=0;
                              break;
                     case 0xef:          //4轮左偏

                              motor_big_right();
                              t2++;
                              if(t2==4)
                              {
                                    t2=0;
                                    motor_right();
                              }
                              t0=t1=t3=t4=t5=t6=0;
                              break;
                     case 0xfb:    //2轮右偏出轨
                     case 0xf9:          //1、2轮右偏
                              motor_big_left();
                              t3++;
                              if(t3==4)
                              {
                                    t3=0;
                                    motor_left();
                              }
                              t0=t1=t2=t4=t5=t6=0;
//                               delay_1ms(10);
                              break;

                     case 0xdf:          //5左偏出轨
                     case 0xcf:    //4、5轮左偏
                              motor_big_right();
                              t4++;
                              if(t4==4)
                              {
                                    t4=0;
                                    motor_right();
                              }
                              t0=t1=t2=t3=t5=t6=0;
//                               delay_1ms(10);
                              break;

                     case 0xfe:          //0最右偏出轨
                     case 0xfa:
                              motor_big_left();
                              t5++;
                              if(t5==1)
                              {
                                    t5=0;
                                    motor_left();
                                    motor_left();
                              }
                              t0=t1=t2=t3=t4=t6=0;
//                               delay_1ms(10);
                              break;

                     case 0xbf:    //6最左偏出轨
                     case 0x9f:
                              motor_big_right();
                              t6++;
                              if(t6==1)
                              {
                                    t6=0;
                                    motor_right();
                                    motor_right();
                              }
                              t0=t1=t2=t3=t4=t5=0;
//                               delay_1ms(10);
                              break;

                     case 0xeb:       //前两传感器压在黑线上
                     case 0xdb:       //后两传感器压在黑线上
                     case 0xbe:       //中间两传感器压在黑线上
                     case 0xac:                //前四传感器压在黑线上
                     case 0x9a:             //后四传感器压在黑线上
                              motor_back();
                              delay_1ms(200);
                              motor_stop();

//                               delay_1ms(1000);

                     default:
//                               motor_back();
//                               delay_1ms(50);
//                               motor_left();
//                               motor_right();
                              break;
            }
      }

}

/*void time1() interrupt 3
{

      TH1=-(1000/256);
      TL1=-(1000%256);
      tt1++;
      if(tt1==300)
      {
            motor_back();
      //       delay_1ms(1);
            tt1=0;
      }
} */

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