51单片机循迹小车程序

ID:601581 · 发表于 2020-11-4 15:18

#include <reg52.h>
# define uchar unsigned char
# define uint unsigned int
//定义单片机不同的I/O口来进行信号的输入与输出
sbit  in1=P3^7;
sbit  in2=P3^6;
sbit  in3=P3^5;
sbit  in4=P3^4;

sbit  c1=P2^7;
sbit  c2=P2^6;
sbit  c3=P2^5;
sbit  c4=P2^4;
sbit  c5=P2^3;
sbit  c6=P2^2;
sbit  c7=P2^1;
sbit  c8=P2^0;
sbit  c9=P1^6;
sbit  c10=P1^5;       //循迹10个灯

sbit D = P3^3;

uchar  stop=0;
uchar  count=0;
uchar  temp = 0;
uchar  SE = 0;
uchar speed_left = 0;
uchar speed_right = 0;

void time0_init(void)
{
      TMOD=0x01; //对定时器0的模式进行选择0001 即gate为0即T0只受TR0控制 C/T为0即为定时器  01对应16位的定时器
      TH0=0xFF; //寄存器的高8位 1111 1111
      TL0=0xea; //寄存器的低8位  1110 1010
      TR0=1;    //启动定时器0
      ET0=1;    //打开T0的中断
      EA=1;    //打开全局中断
}
uchar judge(void) //检测情况判断
{
      if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==1)&&(c6==1)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 1;
else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==1)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 2;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==1)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 3;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==1)&&(c5==1)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 4;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==1)&&(c7==1)&&(c8==0)&&(c9==0)&&(c10==0))
            return 5;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==1)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 6;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==1)&&(c8==0)&&(c9==0)&&(c10==0))
            return 7;
      else       if((c1==0)&&(c2==0)&&(c3==1)&&(c4==1)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 8;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==1)&&(c8==1)&&(c9==0)&&(c10==0))
            return 9;
      else       if((c1==0)&&(c2==0)&&(c3==1)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 10;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==1)&&(c9==0)&&(c10==0))
            return 11;
      else       if((c1==0)&&(c2==1)&&(c3==1)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 12;
else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==1)&&(c9==1)&&(c10==0))
            return 13;
      else       if((c1==0)&&(c2==1)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 14;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==1)&&(c10==0))
            return 15;
      else       if((c1==1)&&(c2==1)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 16;
else if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==1)&&(c10==1))
            return 17;
else if((c1==1)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==0))
            return 18;
      else       if((c1==0)&&(c2==0)&&(c3==0)&&(c4==0)&&(c5==0)&&(c6==0)&&(c7==0)&&(c8==0)&&(c9==0)&&(c10==1))
            return 19;
      else       if((c1==1)&&(c2==1)&&(c3==1)&&(c4==1)&&(c5==1)&&(c6==1)&&(c7==1)&&(c8==1)&&(c9==1)&&(c10==1))
            return 20;
      else
               return 0;
}

uchar dadt,dadt_1;
void main(void)
{

            uchar wark = 0;
            time0_init();
            speed_left = 50;
            speed_right = 50;
            SE =15;

            while(1)
            {
   dadt=judge();
                     if(dadt == 0)
                     dadt=dadt_1;
                     dadt_1=dadt;
                     switch(dadt)
                     {
                     case 1:SE =15;speed_left =85;speed_right =85; break;
                     case 2:SE =15;speed_left =80;speed_right =85; break;
                     case 3:SE =15;speed_left =85;speed_right =80; break;
                     case 4:SE =14;speed_left =70;speed_right =85; break;
         case 5:SE =16;speed_left =85;speed_right =70; break;

                     case 6:SE =14;speed_left =60;speed_right =75; break;
                     case 7:SE =16;speed_left =75;speed_right =60; break;
                     case 8:SE =13;speed_left =57;speed_right =75; break;
                     case 9:SE =17;speed_left =75;speed_right =57; break;

                     case 10:SE =12;speed_left =45;speed_right =75; break;
                     case 11:SE =18;speed_left =75;speed_right =55; break;
                     case 12:SE =12;speed_left =55;speed_right =80; break;
                     case 13:SE =18;speed_left =75;speed_right =63; break;

                  case 14:SE =11;speed_left =53;speed_right =80;  break;
                  case 15:SE =19;speed_left =75;speed_right =58; break;
                     case 16:SE =11;speed_left =55;speed_right =80; break;
                     case 17:SE =19;speed_left =80;speed_right =55; break;

                     case 18:SE = 11;speed_left =55;speed_right =80; break;
                     case 19:SE = 19;speed_left =80;speed_right =55; break;
         case 20:SE = 15;speed_left =85;speed_right =85;stop++;break;
                     default:
      break;
                     }
            }
}

void T0_time() interrupt 1 //中断函数
{
      TR0=0;
      TH0=0xff;    //255
      TL0=0Xea;    //234
      temp++;
      if(temp>=833)                      //202          //1000
{
      temp=0;
}
  if(temp<=SE)
{
D=1;
}
else
{
   D=0;
}
      count++;
      if(count>100)
      count=0;
      if(count<speed_left)
      {
            in1=1;
            in2=0;
      }
      else
      {
            in1=0;
            in2=0;
      }
      if(count<speed_right)
      {
            in3=1;
            in4=0;
      }
else
      {
            in3=0;
            in4=0;
      }
      TR0=1;
}

ID:328014 · 发表于 2020-11-11 18:02

这个能发一下原理图吗?不知道电路连接啊

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