單片機履帶車程序求助

ID:231793 · 發(fā)表于 2020-7-30 16:35

本人單片機新手，做了一個履帶車，必須七個遙控功能，前進(jìn)，后退，加速，減速，左轉(zhuǎn)，右轉(zhuǎn)還有停車。使用PT2272M6最多六個通道，設(shè)想在pt2262遙控的前進(jìn)鍵用軟件（51單片機）實現(xiàn)按一下前進(jìn)，再按一下停車，按說很簡單的程序我就是弄不好，哪位專業(yè)師傅給幫我弄一下，不勝感謝。下面是源程序，K1是前進(jìn)鍵，K5是停止鍵。

單片機源程序如下:
#include <reg52.h>
typedef unsigned char u8;
typedef unsigned int u16;

//L298N????
sbit ena = P0^0;
sbit in1 = P0^1;
sbit in2 = P0^2;
sbit in3 = P0^3;
sbit in4 = P0^4;
sbit enb = P0^5;

//??
sbit key1 = P3^3; //????
sbit key2 = P3^4;       //????
sbit key3 = P3^6;       //????
sbit key4 = P3^7;
sbit key5 = P2^0;
sbit key6 = P2^1;
sbit key7 = P2^2;
sbit key8 = P2^3;
sbit relay = P2^4;//????

u16 MA = 0,MB = 0;    //pwm???

u16 SpeedA = 20; //50%???
u16 SpeedB = 20;

u8 flag;                //??,1????,0????
      //???????sbuf

void delay(u16 z);       //??????

//??
void forward()
{
flag = 1;                //??????
in1=1;                   //l298n??
in2=0;
in3=1;
in4=0;
}

//??
void fallback()
{
flag = 0;             //??????
in1=0;
in2=1;
in3=0;
in4=1;
}

//??
void quick()
{
SpeedA += 1;  //???1
if(SpeedA >= 40)       //??40
{
SpeedA = 40;
}
SpeedB += 1;
if(SpeedB >= 40)
{
SpeedB = 40;
}
}

//??
void slow()
{
SpeedA -= 1;       //???1
if(SpeedA <= 5)//??5
{
SpeedA = 5;
}
SpeedB -= 1;
if(SpeedB <= 5)
{
SpeedB = 5;
}
}

//??
void move_left()

{
in1=1;
in2=0;
in3=0;
in4=0;
}

void move_right()

{
in1=0;
in2=0;
in3=1;
in4=0;
}

//??
void stop()
{
in1=0;
in2=0;
in3=0;
in4=0;
}

void delay(u16 z)
{
u16 x,y;
for(x=z;x>0;x--)
for(y=125;y>0;y--);
}

void main()
{
//????? ???T0
TMOD = 0x21;  //T0?????????,T1?????????
//PCON = 0x00;  //???????,???
//SCON = 0x50;                //???????,???????,????
      TH1 = 0xFD;                //????
      TL1 = 0xFD;                //????
//TR1 = 1;                         //?????T1

TH0 = 0xF4;                   //????
TL0 = 0x48;       //????
TR0 = 1; //?????T0

//ES = 1;//??????
//PS = 1;                      //??????
//PT0 = 1;                //???0????
ET0 = 1;//?????T0??
EA = 1;//?????

//??????
while(1)
{
if(key1 == 0)
{
delay(10);
if(key1 == 0)
{
forward();

}
while(key1 == 0);
}
if(key2 == 0)
{
delay(10);
if(key2 == 0)
{
fallback();

}
while(key2 == 0);
}
if(key3 == 0)
{
delay(10);
if(key3 == 0)
{
quick();

}
while(key3 == 0);
}
if(key4 == 0)
{
delay(10);
if(key4 == 0)
{
slow();

}
while(key4 == 0);
}
if(key5 == 0)
{
delay(10);
if(key5 == 0)
{
stop();
}
while(key5 == 0);
}
if(key6 == 0)
{
delay(10);
if(key6 == 0)
{
move_left();
}
while(key6 == 0);
}
if(key7 == 0)
{
delay(10);
if(key7 == 0)
{
move_right();
}
while(key7 == 0);
}
if(key8 == 0)
{
delay(10);
if(key8 == 0)
{
relay=~relay;
}
while(!key8);
}
}
}

void time0_int() interrupt 1 //T = 3ms * 40 = 120ms
{
TR0 = 0;
TH0 = 0xF4;
TL0 = 0x48; //3000;  3ms
MA++;
if(MA < SpeedA)
{
ena = 1;
}
else
  ena = 0;
if(MA == 40)
{
  MA = 0;
}

MB++;
if(MB < SpeedB)
{
enb = 1;
}
else
  enb = 0;
if(MB == 40)
{
  MB = 0;
}
TR0 = 1;
}

ID:808485 · 發(fā)表于 2020-7-30 17:34

我假設(shè)你車輛控制程序都正常了，只是這個按鍵邏輯搞不定，給出如下建議：
設(shè)計檔位概念，共 5 檔：前進(jìn)2檔，前進(jìn)1檔，停車0檔，后退-1檔，后退-2檔
key1 升檔， key2 降檔，key3/key4空閑，key5停車保留
可以通過連續(xù)按 key1 從-2檔一直升到+2檔，key2同理
代碼如下：

while(1)
{
static char speed=0;
if(key1 == 0)
{
delay(10);
if(key1 == 0)
{
if(++speed > 2)speed = 2;
}
while(key1 == 0);
}
if(key2 == 0)
{
delay(10);
if(key2 == 0)
{
if(--speed < -2)speed = -2;
}
while(key2 == 0);
}
if(key3 == 0)
{
delay(10);
if(key3 == 0)
{
}
while(key3 == 0);
}
if(key4 == 0)
{
delay(10);
if(key4 == 0)
{
}
while(key4 == 0);
}
if(key5 == 0)
{
delay(10);
if(key5 == 0)
{
stop();
}
while(key5 == 0);
}
if(key6 == 0)
{
delay(10);
if(key6 == 0)
{
move_left();
}
while(key6 == 0);
}
if(key7 == 0)
{
delay(10);
if(key7 == 0)
{
move_right();
}
while(key7 == 0);
}
if(key8 == 0)
{
delay(10);
if(key8 == 0)
{
relay=~relay;
}
while(!key8);
}
//根據(jù)速度代碼輸出
switch( speed )
{
case 2:
//高速前進(jìn)
quick();
break;
case 1:
//低速前進(jìn)
forward();
slow();
break;
case 0:
//停車
stop();
break;
case -1:
//低速后退
fallback();
slow();
break;
case -2:
//高速后退
quick();
break;
default:
speed=0;
break;
}
}

ID:231793 · 發(fā)表于 2020-7-30 20:33

gbchang 發(fā)表于 2020-7-30 17:34
我假設(shè)你車輛控制程序都正常了，只是這個按鍵邏輯搞不定，給出如下建議：
設(shè)計檔位概念，共 5 檔：前進(jìn)2檔 ...

謝謝這么快就回復(fù)了，你的這個思路和程序很好，我馬上調(diào)試程序，再次謝謝！謝謝！

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單片機履帶車程序求助