msp430f5529單片機(jī)五路紅外循跡小車程序

ID:1087811 · 發(fā)表于 2023-7-20 10:41

#include "driverlib.h"
#include "msp430f5529.h"
#define p1_2 TA0CCR1 //占空比計(jì)數(shù)，用于控制占空比
#define p1_5 TA0CCR4
void initpwm()
{
P1DIR |=BIT2+BIT5; //配置P1.2,5口為輸出口
P1SEL |=BIT2+BIT5; //開啟1.2，5口的io復(fù)用輸出pwm
unsigned const PWM=100;//設(shè)置PWM周期參數(shù)100
TA0CCR0 =PWM; //設(shè)置PWM周期
TA0CTL=TASSEL__SMCLK+MC_1;
TA0CCTL1 = OUTMOD_7;
TA0CCTL4 = OUTMOD_7;
}
void turn_left()
{
P1DIR |=BIT4;
P1DIR |=BIT3;
P2DIR |=BIT6;
P2DIR |=BIT7;
P1OUT |=BIT3;
P1OUT&=~BIT4;
P2OUT &=~BIT6;
P2OUT|=BIT7;
p1_2=75; //1.4，1.3，1.2左輪
p1_5=75;
}
void turn_right()
{
P1DIR |=BIT4;
P1DIR |=BIT3;
P2DIR |=BIT6;
P2DIR |=BIT7;
P1OUT &=~BIT3;
P1OUT|=BIT4;
P2OUT |=BIT6;
P2OUT&=~BIT7;
p1_2=75; //占空比為75/100，1.4，1.3，1.2左輪
p1_5=75;//原本是0
}
void go_straight()
{
P1DIR |=BIT4;
P1DIR |=BIT3;
P2DIR |=BIT6;
P2DIR |=BIT7;
P1OUT &=~BIT3;
P1OUT|=BIT4;
P2OUT &=~BIT6;
P2OUT|=BIT7;
p1_2=60; //占空比為60/100
p1_5=60;
}
void stop()
{
P1DIR |=BIT4;
P1DIR |=BIT3;
P2DIR |=BIT6;
P2DIR |=BIT7;
P1OUT &=~BIT3;
P1OUT&=~BIT4;
P2OUT &=~BIT6;
P2OUT&=~BIT7;
p1_2=0; //占空比為0/100
p1_5=0;
}
void xunji()
{
if(((P2IN & BIT0) && (P2IN & BIT2) && (P2IN & BIT3) && (P2IN & BIT4) && (P2IN & BIT5)) == 1)//全1 全亮
{go_straight();}
else if( (((P2IN & BIT0) && (P2IN & BIT2) && (P2IN & BIT4) && (P2IN & BIT5))== 1) && ((P2IN & BIT3)==0))//第3個(gè)滅(中間那個(gè))
{go_straight();}
else if(((P2IN & BIT0) || (P2IN & BIT2) || (P2IN & BIT3) || (P2IN & BIT4) || (P2IN & BIT5))==0)//全0 全不亮
{stop();}
else if( (((P2IN & BIT4) && (P2IN & BIT5) && (P2IN & BIT3))== 1) && ((P2IN & BIT0)==0))//第一個(gè)滅
{turn_left();}
else if( (((P2IN & BIT0) && (P2IN & BIT3) && (P2IN & BIT4) && (P2IN & BIT5))== 1) && ((P2IN & BIT2)==0))//第二個(gè)滅/
{turn_left();}
else if( (((P2IN & BIT0) && (P2IN & BIT2) && (P2IN & BIT3))== 1) && ((P2IN & BIT4)==0))//4滅
{turn_right();}
else if( (((P2IN & BIT0) && (P2IN & BIT2) && (P2IN & BIT3) && (P2IN & BIT4))== 1) && ((P2IN & BIT5)==0))//5滅
{turn_right();}
else stop();
}
int main(void)
{
WDTCTL = WDTPW +WDTHOLD;// stop watchdog timer
initpwm();
P2DIR &=~(BIT0+BIT2+BIT3+BIT4+BIT5);
//紅外輸入
P2REN |=(BIT0+BIT2+BIT3+BIT4+BIT5);
//設(shè)置上拉電阻
P2OUT &=~(BIT0+BIT2+BIT3+BIT4+BIT5);
//設(shè)置初始值為高電平
while(1)
{
xunji();
}
}