關(guān)于單片機(jī)超聲波避障的代碼

ID:500854 · 發(fā)表于 2019-4-6 22:55

關(guān)于一些簡單的超聲波避障代碼

單片機(jī)源程序如下:

#include<reg52.h>
//定義選擇開關(guān)
sbit selet1 = P3^5;
sbit selet2 = P3^4;
//sbit selet3 = P3^3;
//定義L298N端口
sbit in1 = P0^0;
sbit in2 = P0^1;
sbit in3 = P0^2;
sbit in4 = P0^3;
sbit enA = P0^4;
sbit enB = P0^5;
//定義微動開關(guān)端口
sbit key1 = P1^0;
sbit key2 = P1^1;
//定義蜂鳴器
sbit beep = P3^6;
//定義超聲波模塊端口
sbit Trig = P1^2;
sbit Echo = P1^3;
unsigned int distance_cm = 0; //距離
unsigned int overflow_count = 0; //溢出計(jì)數(shù)
unsigned int status = 0; //超聲波模塊狀態(tài)
unsigned int dis_count = 0; //計(jì)數(shù)
unsigned char tmp, dat, flat;
unsigned int num, model, c=0;
unsigned int speed = 100;
//static unsigned int car_statues = 5; //小車默認(rèn)狀態(tài)為停止
void delay(unsigned int z);
void delay_us(unsigned int aa);
void forward(unsigned char pwm);
void f(void);
void back(unsigned char pwm);
void b(void);
void left(unsigned char pwm);
void l(void);
void right(unsigned char pwm);
void r(void);
void stop(void);
void laba(unsigned int i);
void chaoshengbo_init(void);
void GetDistance(void);
void lanya_init(); //串口初始化
void send(unsigned char a); //單字節(jié)發(fā)送函數(shù)
void ctrl(); //接收處理函數(shù)
void get_model(unsigned char value);
void main(void)
{
unsigned int n = 0;
//chaoshengbo_init();
lanya_init(); //藍(lán)牙模塊初始化
speed = 40;
while(1)
{
get_model(SBUF);
if(model == 1)
forward(speed);
if(model == 2)
left(speed);
if(model == 3)
right(speed);
if(model == 4)
back(speed);
if(model == 5)
stop();
if(model == 6)
speed = 40;
if(model == 7)
speed = 75;
if(model == 8)
speed = 100;
if(RI==1) // 是否有數(shù)據(jù)到來
{
RI = 0;
ctrl();
}
if(selet1 == 0) //S1被按下時(shí)，前進(jìn)，微動開關(guān)模式
{
delay(5); //消抖
if(selet1 == 0) //確認(rèn)按鍵被按下
{
while(!selet1) //松開按鍵檢測
;
n = 1; //n賦值為1，微動開關(guān)模式
}
}
if(selet2 == 0) //S2被按下時(shí)，后退，超聲波避障模式
{
delay(5); //消抖
if(selet2 == 0) //確認(rèn)按鍵被按下
{
while(!selet2) //按鍵松開檢測
;
n = 2; //n賦值為2，超聲波避障模式
}
}
/*
if(selet3 == 0) //S3被按下時(shí)，手機(jī)藍(lán)牙控制模式
{
delay(5); //消抖
if(selet3 == 0) //確認(rèn)按鍵被按下
{
while(!selet3) //按鍵松開檢測
;
n = 3; //n賦值為3，藍(lán)牙控制模式
lanya_init();
}
}
*/
if( n == 1) //若n為1，微動開關(guān)模式
{
f(); //默認(rèn)前進(jìn)
if(key1 == 0) //若左邊微動開關(guān)被按下
{
delay(5); //消抖
if(key1 == 0) //確認(rèn)左邊微動開關(guān)被按下
{
//while(!key1); //按鍵松開檢測
b(); //先后退
delay(1000);
r(); //再左轉(zhuǎn)
delay(1000);
}
}
if(key2 == 0) //若右邊微動開關(guān)被按下
{
delay(5); //消抖
if(key2 == 0) //確認(rèn)右邊微動開關(guān)被按下
{
//while(!key2); //按鍵松開檢測
b(); //先后退
delay(1000);
r(); //在右轉(zhuǎn)
delay(1000);
}
}
}
else if( n == 2) //若n為2，超聲波避障模式
{
ES = 0;
TR1 = 0;
chaoshengbo_init(); //超聲波模塊初始化
//speed = 100;
b(); //默認(rèn)后退
GetDistance(); //獲取距離
if(distance_cm > 0 && distance_cm <= 15) //若獲取的距離大于0且小于等于15cm時(shí)
{
f(); //先前進(jìn)（與默認(rèn)行駛方式相反）
delay(1000);
r(); //再右轉(zhuǎn)
delay(1000);
}
}
/*
else if( n == 3) //若n為3，藍(lán)牙控制模式
{
//TR2 = 0; //關(guān)閉超聲波模塊開的定時(shí)器2
lanya_init(); //藍(lán)牙模塊初始化
stop(); //默認(rèn)停止
get_model(SBUF); //獲取信號
speed = 35;
if(model == 1) //若接收到的信號為1，前進(jìn)
forward(speed); //前進(jìn)
if(model == 2) //若接收到的信號為2，左轉(zhuǎn)
left(speed); //左轉(zhuǎn)
if(model == 3) //若接收到的信號為3，右轉(zhuǎn)
right(speed); //右轉(zhuǎn)
if(model == 4) //若接收到的信號為4，后退
back(speed); //后退
if(model == 5) //若接收到的信號為5，停止
stop(); //停止
if(model == 6) //若接收到的信號為6，一檔
speed = 35; //speed為35
if(model == 7) //若接收到的信號為7，二擋
speed = 70; //speed為70
if(model == 8) //若接收到的信號為8，三擋
speed = 100; //speed為100
if(RI==1) //判斷是否有數(shù)據(jù)到來
{
RI = 0;
ctrl();
}
}
*/
}
}
//小車右轉(zhuǎn)
void right(unsigned char pwm)
{
enA = 1;
in1 = 0;
in2 = 1;
in3 = 0;
in4 = 0;
delay_us( pwm );
enA = 1;
in1 = 0;
in2 = 0;
in3 = 0;
in4 = 0;
delay_us( 100 - pwm );
}
void r(void)
{
enA = 1;
in1 = 0;
in2 = 1;
in3 = 0;
in4 = 0;
}
//小車左轉(zhuǎn)
void left(unsigned char pwm)
{
enA = 1;
in1 = 0;
in2 = 0;
in3 = 1;
in4 = 0;
delay_us( pwm );
enA = 1;
in1 = 0;
in2 = 0;
in3 = 0;
in4 = 0;
delay_us( 100 - pwm );
}
void l(void)
{
enA = 1;
in1 = 0;
in2 = 0;
in3 = 1;
in4 = 0;
}
//小車后退
void back(unsigned char pwm)
{
enA = 1;
enB = 1;
in1 = 1;
in2 = 0;
in3 = 1;
in4 = 0;
delay_us( pwm );
enA = 1;
in1 = 0;
in2 = 0;
in3 = 0;
in4 = 0;
delay_us( 100 - pwm );
}
void b(void)
{
enA = 1;
enB = 1;
in1 = 1;
in2 = 0;
in3 = 1;
in4 = 0;
}
//小車前進(jìn)
void forward(unsigned char pwm)
{
enA = 1;
enB = 1;
in1 = 0;
in2 = 1;
in3 = 0;
in4 = 1;
delay_us( pwm );
enA = 1;
in1 = 0;
in2 = 0;
in3 = 0;
in4 = 0;
delay_us( 100 - pwm );
}
void f(void)
{
enA = 1;
enB = 1;
in1 = 0;
in2 = 1;
in3 = 0;
in4 = 1;
}
//小車停止
void stop(void)
{
enB = 1;
in1 = 0;
in2 = 0;
in3 = 0;
in4 = 0;
}
/*
//喇叭
void laba(unsigned int i)
{
unsigned char j;
if( i == 1 )
forward();
else if( i == 2 )
left();
else if( i == 3 )
right();
else if( i == 4 )
back();
else if( i == 5 )
stop();
for(j=200; j>0; j--)
{
beep = ~beep;
delay_us(500);
}
delay(500);
for(j=200; j>0; j--)
{
beep = ~beep;
delay_us(500);
}
}
*/
//超聲波模塊初始化
void chaoshengbo_init(void)
{
Trig = 0;
//TH2 = RCAP2H = 0;
//TL2 = RCAP2L = 0;
TH0 = TL0 = 0;
TR0 = 0; //關(guān)閉定時(shí)器0
ET0 = 1; //允許T0中斷
}
//超聲波模塊獲取距離
void GetDistance(void)
{
Trig = 1; //發(fā)送觸發(fā)信號
status = 1; //狀態(tài)1為發(fā)射超聲波
TH0 = 0;
TL0 = 0;
TR0 = 1; //打開定時(shí)器0
while(TL0 < 42) //產(chǎn)生超過10us的脈沖
;
status = 2; //狀態(tài)2為發(fā)射完超聲波后
Trig = 0;
TR0 = 0;
TH0 = 0;
TL0 = 0;
overflow_count = 0;
TR0 = 1; //打開定時(shí)器0
while(Echo == 0) //當(dāng)無信號返回時(shí)
{
if(status == 5) //狀態(tài)5表示超時(shí)
{
status = 0;
distance_cm = 0;
break ; //失敗
}
}
TR0 = 0; //清空計(jì)數(shù)
TH0 = 0;
TL0 = 0;
overflow_count = 0;
TR0 = 1;
while(Echo == 1) //有信號返回時(shí)，開始計(jì)算長度
{
if(status == 5) //status為5時(shí)失敗
{
status = 0;
distance_cm = 0;
TR0 = 0;
break ;
}
}
dis_count = overflow_count * 65536 + TH0 * 256 + TL0;
TR0 = 0;
distance_cm = (unsigned int)( (long)(dis_count) * 34 / 10000);
status = 0 ; //準(zhǔn)備下次發(fā)送
}
//定時(shí)器2中斷
void Timer0Int() interrupt 1
{
TF0 = 0;
overflow_count++;
TH0 = 0;
TL0 = 0;
if(overflow_count == 2)
{
status = 5; //超時(shí)
}
}
//藍(lán)牙模塊
void get_model(unsigned char value)
{
unsigned char shu1,value1;
value1=value-48;
//bai=value1/16;
shu1=value1%16;
switch(shu1)
{
case 1:model = 1;break; //model賦值為1，前進(jìn)
case 2:model = 2;break; //model賦值為2，左轉(zhuǎn)
case 3:model = 3;break; //model賦值為3，右轉(zhuǎn)
case 4:model = 4;break; //model賦值為4，后退
case 5:model = 5;break; //model賦值為5，停止
case 6:model = 6;break; //model賦值為6，一檔
case 7:model = 7;break; //model賦值為7，二擋
case 8:model = 8;break; //model賦值為8；三擋
//case 9:model = 6;break; //model賦值為6，喇叭
}
}
void lanya_init() //串口初始化
{
TR1 = 0;
ES=0; //關(guān)中斷
SCON = 0x50; // 即10010000，REN為1，串口工作模式為2
//
TMOD = 0x20; // 定時(shí)器1工作于方式2，8位自動重載模式, 用于產(chǎn)生波特率
TH1=TL1=0xFD; // 初始值設(shè)為FD，產(chǎn)生9600波特率
PCON &= 0x7f; // 即SMOD1為0，波特率不倍增
TR1 = 1; //定時(shí)器1開始工作，產(chǎn)生波特率
//發(fā)送標(biāo)志位置0
TI=0; //接收標(biāo)志位置0
RI=0;
//EA=0;
ES=1;
}
void send(unsigned char a) //單字節(jié)數(shù)據(jù)發(fā)送
{
TI=0;
SBUF=a;
while(TI==0);
TI=0;
}
void ctrl() //接收處理函數(shù)
{
//static unsigned int car_statues = 5; //小車默認(rèn)狀態(tài)為停止
switch(tmp)
{
case '1':send(tmp);break; //前進(jìn)
case '2':send(tmp);break; //左轉(zhuǎn)
case '3':send(tmp);break; //右轉(zhuǎn)
case '4':send(tmp);break; //后退
case '5':send(tmp);break; //停止
case '6':send(tmp);break; //一檔
case '7':send(tmp);break; //二擋
case '8':send(tmp);break; //三擋
//case '9':send(tmp);break; //喇叭
default:send(tmp);
}
}
void delay(unsigned int z)
{
unsigned int x, y;
for(x = z; x > 0 ; x--)
for(y=110;y>0;y--)
;
}
void delay_us(unsigned int aa)
{
while(aa--);
}

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關(guān)于單片機(jī)超聲波避障的代碼