單片機(jī)尋跡小車PROTEUS仿真及代碼

ID:687441 · 發(fā)表于 2020-3-28 01:07

四路尋跡小車仿真，液晶顯示小車行駛狀態(tài)
包括直行，小右轉(zhuǎn)，大右轉(zhuǎn)，小左轉(zhuǎn)，大左轉(zhuǎn)
仿真原理圖如下（proteus仿真工程文件可到本帖附件中下載）

單片機(jī)源程序如下:

#include <reg52.h>//52頭文件
#include <lcd.h>//液晶顯示配置文件
unsigned char pwm_left_val; //左電機(jī)占空比值取值范圍0-170，0最快
unsigned char pwm_right_val; //右電機(jī)占空比值取值范圍0-170 ,0最快
unsigned char pwm_t;//周期
void delay(unsigned int z)//毫秒級(jí)延時(shí)
{
unsigned int x,y;
for(x = z; x > 0; x--)
for(y = 114; y > 0 ; y--);
}
/*小車前進(jìn)*/
int forward()
{
pwm_left_val=100;
pwm_right_val=100;
left_motor_go; //左電機(jī)前進(jìn)
right_motor_go; //右電機(jī)前進(jìn)
}
/*小車小左轉(zhuǎn)*/
int xiaoleft_run()
{
pwm_left_val=170;
pwm_right_val=100;
left_motor_go; //左電機(jī)前進(jìn)
right_motor_go; //右電機(jī)前進(jìn)
}
/*小車大左轉(zhuǎn)*/
void daleft_run()
{
left_motor_stops; //左電機(jī)停止
right_motor_go; //右電機(jī)前進(jìn)
}
/*小車小右轉(zhuǎn)*/
int xiaoright_run()
{
pwm_left_val=100;
pwm_right_val=170;
left_motor_go; //左電機(jī)前進(jìn)
right_motor_go; //右電機(jī)前進(jìn)
}
/*小車大右轉(zhuǎn)*/
void daright_run()
{
right_motor_stops;//右電機(jī)停止
left_motor_go; //左電機(jī)前進(jìn)
}
//定時(shí)器0中斷
void timer0() interrupt 1
{
pwm_t++;//周期計(jì)時(shí)加
if(pwm_t == 255)
pwm_t = EN1 = EN2 = 0;
if(pwm_left_val == pwm_t)//左電機(jī)占空比
EN1 = 1;
if(pwm_right_val == pwm_t)//右電機(jī)占空比
EN2 = 1;
}
void main()
{
for(;;) //死循環(huán)
{
if(key == 0)// 實(shí)時(shí)檢測(cè)S2按鍵是否被按下
{
delay(5); //軟件消抖
LCDInit();
DisplayString(0x0,0,"Left's Go");
break; //退出FOR死循環(huán)
}
}
delay(1000);//延時(shí)1秒
TMOD |= 0x02;//8位自動(dòng)重裝模塊
TH0 = 220;
TL0 = 220;//11.0592M晶振下占空比最大比值是256,輸出100HZ
TR0 = 1;//啟動(dòng)定時(shí)器0
ET0 = 1;//允許定時(shí)器0中斷
EA = 1;//總中斷允許
while(1)
{
//為0 沒(méi)有識(shí)別到黑線為1識(shí)別到黑線
if(left2_led == right1_led)
{
forward();//前進(jìn)
WriteCmd(LCD_CLS);
DisplayString(0x0,0,"forward");
delay(200);
}
else if(left1_led == 0 && left2_led == 1 && right1_led== 0 && right2_led== 0 )//左邊觸線，小左轉(zhuǎn)修正
{
xiaoleft_run();
WriteCmd(LCD_CLS);
DisplayString(0x0,0,"Turn Left small");
delay(200);
}
else if(left1_led == 1 && left2_led == 1 && right1_led== 0 && right2_led== 0 )//最左邊觸線，大左轉(zhuǎn)修正
{
daleft_run();
WriteCmd(LCD_CLS);
DisplayString(0x0,0,"Turn Left big");
delay(200);
}
else if(left1_led == 0 && left2_led == 0 && right1_led== 1 && right2_led== 0 )//右邊觸線，小右轉(zhuǎn)修正
{
xiaoright_run();
WriteCmd(LCD_CLS);
DisplayString(0x0,0,"Turn Right small");
delay(200);
}
else if(left1_led == 0 && left2_led == 0 && right1_led== 1 && right2_led== 1 ) //最右邊觸線，大右轉(zhuǎn)修正
{
daright_run();
WriteCmd(LCD_CLS);
DisplayString(0x0,0,"Turn Right big");
delay(200);
}
}
}