單片機(jī)超聲波避障小車(chē)外加紅外遙控仿真程序

ID:150530 · 發(fā)表于 2022-12-29 21:57

超聲波避障小車(chē)，紅外遙控小車(chē)上下左右運(yùn)動(dòng)仿真
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> //51頭文件
#include <intrins.h> //包含nop等系統(tǒng)函數(shù)
#define uchar unsigned char
#define uint unsigned int
/*紅外*/
#define JINGZHEN 12
#define TIME0TH ((65536-100*JINGZHEN/12)&0xff00)>>8 //12M晶振機(jī)械周期0.25us,100us,紅外遙控
#define TIME0TL ((65536-100*JINGZHEN/12)&0xff)
unsigned char count0 = 50;
unsigned char count1 = 0;
sbit EN = P2^5;
uint IrCount=0,Show=0,Cont=0;
uchar IRDATBUF[32];
uchar IrDat[5]={0,0,0,0,0};
uchar IrStart=0,IrDatCount=0;
code uchar BitMsk[]={0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80,};
/*電機(jī)驅(qū)動(dòng)IO定義*/
sbit IN1 = P1^2; //為1 左電機(jī)反轉(zhuǎn)
sbit IN2 = P1^3; //為1 左電機(jī)正轉(zhuǎn)
sbit IN3 = P1^6; //為1 右電機(jī)正轉(zhuǎn)
sbit IN4 = P1^7; //為1 右電機(jī)反轉(zhuǎn)
sbit EN1 = P1^4; //為1 左電機(jī)使能
sbit EN2 = P1^5; //為1 右電機(jī)使能
/*按鍵定義*/
sbit key_s2 = P3^0;
sbit beep = P2^3;//蜂鳴器
sbit RX = P2^0;//ECHO超聲波模塊回響端
sbit TX = P2^1;//TRIG超聲波模塊觸發(fā)端
sbit LCM_RW = P3^6; //定義LCD引腳
sbit LCM_RS = P3^5;
sbit LCM_E = P3^4;
sbit servorControl =P2^7; //舵機(jī)的控制引腳
#define lcddata P0 //定義液晶屏數(shù)據(jù)口
#define Busy 0x80 //用于檢測(cè)LCM狀態(tài)字中的Busy標(biāo)識(shí)
#define left_motor_en EN1 = 1 //左電機(jī)使能
#define right_motor_en EN2 = 1 //右電機(jī)使能
#define left_motor_stops IN1 = 0, IN2 = 0//左電機(jī)停止
#define right_motor_stops IN3 = 0, IN4 = 0//右電機(jī)停止
#define left_motor_go IN1 = 0, IN2 = 1//左電機(jī)正傳
#define left_motor_back IN1 = 1, IN2 = 0//左電機(jī)反轉(zhuǎn)
#define right_motor_go IN3 = 1, IN4 = 0//右電機(jī)正傳
#define right_motor_back IN3 = 0, IN4 = 1//右電機(jī)反轉(zhuǎn)
unsigned char pwm_left_val = 38;//左電機(jī)占空比值取值范圍0-80，0最快
unsigned char pwm_right_val = 44;//右電機(jī)
unsigned char pwm_t;//周期
unsigned int time = 0;//傳輸時(shí)間
unsigned long S = 0;//距離
bit flag = 0;//超出測(cè)量范圍標(biāo)志位
bit flag1=0;//舵機(jī)模塊計(jì)數(shù)標(biāo)志
uchar control=5; //控制舵機(jī)轉(zhuǎn)角
uchar servorTime=0; //控制舵機(jī)脈沖占空比
uchar lFlag=0;//左方向是否有障礙的標(biāo)志
uchar rFlag=0;//右方向是否有障礙的標(biāo)志
uint ldistance=0,rdistance=0;//左右邊長(zhǎng)度
unsigned char code tishi[] ="the distance is:";//LCD1602顯示格式
unsigned char code ASCII[13] = "0123456789.cm";
unsigned char code table[]=" howfar:000.0cm";
unsigned char code table1[]=" Out of range ";
unsigned char disbuff[4] = { 0,0,0,0};//距離顯示緩存
bit flagg=0; //切換正常避障模式和遙控模式
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--);
}
void Delay10us(unsigned char i) //10us延時(shí)函數(shù) 啟動(dòng)超聲波模塊時(shí)使用
{
unsigned char j;
do{
j = 10;
do{
_nop_();
}while(--j);
}while(--i);
}
/************************************LCD1602液晶屏驅(qū)動(dòng)函數(shù)************************************************/
/******************讀狀態(tài)**********************/
unsigned char readstatus(void)
{
lcddata = 0xFF;
LCM_RS = 0;
Delay10us(1);
LCM_RW = 1;
Delay10us(1);
do{
LCM_E = 0;
Delay10us(1);
LCM_E = 0;
Delay10us(1);
LCM_E = 1;
Delay10us(1);
}
while (lcddata & Busy); //檢測(cè)忙信號(hào)
return(lcddata);
}
/****************寫(xiě)數(shù)據(jù)************************/
void writedata(unsigned char datas)
{
readstatus(); //檢測(cè)忙
lcddata = datas;
LCM_RS = 1;
Delay10us(1);
LCM_RW = 0;
Delay10us(1);
LCM_E = 0; //若晶振速度太高可以在這后加小的延時(shí)
Delay10us(1);
LCM_E = 0; //延時(shí)
Delay10us(1);
LCM_E = 1;
Delay10us(1);
}
/***************寫(xiě)指令*************************/
void writecom(unsigned char WCLCM,BuysC) //BuysC為0時(shí)忽略忙檢測(cè)
{
if (BuysC) readstatus(); //根據(jù)需要檢測(cè)忙
lcddata = WCLCM;
LCM_RS = 0;
Delay10us(1);
LCM_RW = 0;
Delay10us(1);
LCM_E = 0;
Delay10us(1);
LCM_E = 0;
Delay10us(1);
LCM_E = 1;
Delay10us(1);
}
/*******************初始化******************/
void lcdinition(void)
{
lcddata = 0;
writecom(0x38,0); //三次顯示模式設(shè)置，不檢測(cè)忙信號(hào)
delay(5);
writecom(0x38,0);
delay(5);
writecom(0x38,0);
delay(5);
writecom(0x38,1); //顯示模式設(shè)置,開(kāi)始要求每次檢測(cè)忙信號(hào)
writecom(0x08,1); //關(guān)閉顯示
writecom(0x01,1); //顯示清屏
writecom(0x06,1); // 顯示光標(biāo)移動(dòng)設(shè)置
writecom(0x0c,1); // 顯示開(kāi)及光標(biāo)設(shè)置
}
/*******************按指定位置顯示一個(gè)字符*****/
void DisplayOneChar(unsigned char x, unsigned char y, unsigned char data2)
{
y &= 0x1;
x&= 0xF; //限制X不能大于15，Y不能大于1
if (y) x |= 0x40; //當(dāng)要顯示第二行時(shí)地址碼+0x40;
x |= 0x80; //算出指令碼
writecom(x, 1); //發(fā)命令字
writedata(data2); //發(fā)數(shù)據(jù)
}
/******************按指定位置顯示一串字符*******/
void DisplayListChar(unsigned char x, unsigned char y, unsigned char code *DData)
{
unsigned char ListLength;
ListLength = 0;
y &= 0x1;
x &= 0xF; //不能大于15，y不能大于1
while (DData[ListLength]>0x19) //若到達(dá)字串尾則退出
{
if (x <= 0xF) //坐標(biāo)應(yīng)小于0xF
{
DisplayOneChar(x, y, DData[ListLength]); //顯示單個(gè)字符
ListLength++;
x++;
}
}
}
/***************************************************************************/
/*小車(chē)前進(jìn)*/
void forward(uint m)
{
left_motor_go; //左電機(jī)前進(jìn)
right_motor_go; //右電機(jī)前進(jìn)
delay(m);
}
/*PWM控制使能小車(chē)后退*/
void backward(uint m)
{
left_motor_back; //左電機(jī)后退
right_motor_back; //右電機(jī)后退
delay(m);
}
/*小車(chē)停止*/
void stop(uint m)
{
right_motor_stops;//右電機(jī)停止
left_motor_stops; //左電機(jī)停止
delay(m);
}
/*小車(chē)左轉(zhuǎn)*/
void left_rapidly(uint m)
{
left_motor_back;
right_motor_go;
delay(m);
}
/*小車(chē)右轉(zhuǎn)*/
void right_rapidly(uint m)
{
right_motor_back;
left_motor_go;
delay(m);
}
/*判斷S2是否被按下*/
void keyscan()
{
for(;;) //死循環(huán)
{
if(key_s2 == 0)// 實(shí)時(shí)檢測(cè)S2按鍵是否被按下
{
delay(5); //軟件消抖
if(key_s2 == 0)//再檢測(cè)S2是否被按下
{
while(!key_s2);//松手檢測(cè)
beep = 0; //使能有源蜂鳴器
delay(200);//200毫秒延時(shí)
beep = 1; //關(guān)閉有源蜂鳴器
break; //退出FOR死循環(huán)
}
}
}
}
/*LCD顯示所測(cè)結(jié)果*/
void xianshi( )
{
if((S>=4000)||flag==1) //超出測(cè)量范圍
{
flag=0;
DisplayListChar(0, 1, table1);
}
else
{
disbuff[0]=S/1000; //距離數(shù)值千位
disbuff[1]=S%1000/100;//距離數(shù)值百位
disbuff[2]=S%100/10;//距離數(shù)值十位
disbuff[3]=S%10; //距離數(shù)值個(gè)位
DisplayListChar(0, 1, table);
DisplayOneChar(9, 1, ASCII[disbuff[0]]);
DisplayOneChar(10, 1, ASCII[disbuff[1]]);
DisplayOneChar(11, 1, ASCII[disbuff[2]]);
DisplayOneChar(12, 1, ASCII[10]);
DisplayOneChar(13, 1, ASCII[disbuff[3]]);
DisplayOneChar(14, 1, ASCII[11]);
DisplayOneChar(15, 1, ASCII[12]);
}
}
void qidongceju() //啟動(dòng)超聲波模塊
{
TX=1; //啟動(dòng)一次模塊
Delay10us(2); //延時(shí)20us
TX=0;
}
/*計(jì)算超聲波所測(cè)距離并顯示*/
uint ceju()
{
TH0=0;
TL0=0;
qidongceju();
while(!RX); //當(dāng)RX（ECHO信號(hào)回響）為零時(shí)等待
TR0=1; //開(kāi)啟計(jì)數(shù)
while(RX); //當(dāng)RX為1計(jì)數(shù)并等待
TR0=0; //關(guān)閉計(jì)數(shù)
time=TH0*256+TL0;
S=(float)(time*1.085)*0.16; //單位為MM
if(S<=400)
return 1; //距離小于400mm時(shí)返回1
else
return 0;
}
void duoji(uchar m) //舵機(jī)轉(zhuǎn)向定義
{
control=m;
servorTime=0;
flag1=1;
delay(100);
flag1=0;
delay(100); //延時(shí)，降低轉(zhuǎn)向速度
}
/*超聲波避障*/
void avoid()
{
if(S < 400)//設(shè)置避障距離，單位毫米剎車(chē)距離
{
beep = 0;//使能蜂鳴器
stop();//停車(chē)
do{
xianshi();
duoji(18); //使舵機(jī)向左擺動(dòng)
lFlag=ceju();
xianshi();
ldistance=S;
duoji(8); //使舵機(jī)向右擺動(dòng)
rFlag=ceju();
xianshi();
rdistance=S;
duoji(13);//控制舵機(jī)使超聲波模塊正對(duì)前方
backward(200);
if(rdistance>ldistance)
{
right_rapidly(10);
}
if(ldistance>rdistance)
{
left_rapidly(10);
}
}while(lFlag==1&&rFlag==1);//當(dāng)前方、左右側(cè)都有障礙物
if(lFlag==0&&rFlag==1) //左側(cè)沒(méi)有障礙物,右側(cè)有
{
left_rapidly(80);
}
else if(rFlag==0&&lFlag==1)//右側(cè)沒(méi)有障礙物，左側(cè)有
{
right_rapidly(80);
}
else if(rFlag==0&&lFlag==0)//兩側(cè)都沒(méi)有障礙物，默認(rèn)向前走
{
forward();
}
}
else{
forward();
beep=1;
}
}
void inition1()
{
TMOD = 0x21;//定時(shí)器1工作模式2,8位自動(dòng)重裝;
TH0 = 0;//定時(shí)器0工作模式1，16位定時(shí)用于產(chǎn)生PWM，T0用測(cè)ECH0脈沖長(zhǎng)度
TL0 = 0;//T0,16位定時(shí)計(jì)數(shù)用于記錄ECHO高電平時(shí)間
ET0 = 1;
TH1 = 155;
TL1 = 155; //100HZ T1
ET1 = 1;
TR1 = 1;
EA = 1;
}
void inition2()
{
TMOD |= 0x011;
TH0 = TIME0TH;
TL0 = TIME0TL;
ET0=1;
TR0=1;
ET1=1;
TR1=1;
IT0 = 1; //下降沿
EX0 = 1;
EA=1;
}
void scan()
{
if(Show==1)
{
Show=0;
Cont=0;
switch (IrDat[3])
{
case 0x12://go
forward(1);
break;
case 0x0b://back
backward(1);
break;
case 0x1a://right
right_rapidly(1);
break;
case 0x1e://left
right_rapidly(1);
break;
}
}
}
void main()
{
lcdinition();
delay(5);
DisplayListChar(0, 0, tishi);//1602第一行顯示tishi數(shù)組內(nèi)容
DisplayListChar(0, 1, table);//1602第二行顯示table數(shù)組內(nèi)容
keyscan();//等待按下S2啟動(dòng)小車(chē)
TX = 0;
if(flagg==0)
inition1();
else
{
inition2();
}
while(1)
{
if(flagg==0){
duoji(13);//控制舵機(jī)使超聲波模塊正對(duì)前方
ceju();
xianshi();
avoid(); }
else
{
scan();
}
}
}
/*定時(shí)器1中斷輸出PWM信號(hào)*/
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