单片机循迹小车 PWM 红外

ID:596946 · 发表于 2019-8-7 15:31

#include <REGX51.H>

sbit out1 = P1^0;
sbit out2 = P1^1;

sbit PWMA  = P2^0;
sbit PWMB  = P2^1;
sbit AIN1  = P2^2;
sbit AIN2  = P2^3;
sbit BIN1  = P2^4;
sbit BIN2  = P2^5;
sbit STBY = P2^6;
unsigned char flag;
unsigned char model;
void init()
{
TMOD = 0X01;
TH0 = (65535 - 10) / 256;
TL0 = (65535 - 10) % 256;
TR0 = 1;
EA = 1;
ET0 = 1;
}

void main()
{
init();
while(1)
{
         STBY = 1;
      AIN1 = 1;
      AIN2 = 0;
      BIN1 = 1;
      BIN2 = 0;
      if(out1 == 0 && out2 == 0)
      {
      flag = 50;
      model = 0;
      }

      if(out1 == 0 && out2 == 1)
      {
         flag =30;
         model = 1;
      }

      if(out1 == 1 && out2 == 0)
      {
         flag = 30;
         model = 2;
      }

      if(out1 == 1 && out2 == 1)
      {
         PWMA = 0;
         PWMB = 0;
      }
}
}

void timer0() interrupt 1
{
  static unsigned char PWMflag = 0;
  static int time;
TH0 = (65535 - 200) / 256;
TL0 = (65535 - 200) % 256;
time ++;
if(time == 1000)
{
time = 0;
      PWMflag ++;
      if(PWMflag == 100)PWMflag = 0;
      }
  if(model == 0)
  {
   if(PWMflag<flag)
      {
               PWMA = 1;
            PWMB = 1;
      }
      else
      {
               PWMA = 0;
            PWMB = 0;
      }
  }
  if(model == 1)
  {
         if(PWMflag<flag)
      {
               PWMA = 1;
            PWMB = 0;
      }
      else
      {
               PWMA = 0;
            PWMB = 0;
      }
  }
      if(model == 2)
      {
               if(PWMflag<flag)
            {
               PWMA = 0;
               PWMB = 1;
            }
            else
            {
                     PWMA = 0;
                  PWMB = 0;
            }
      }

}

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