紅外避障小車程序框架

ID:139660 · 發(fā)表于 2016-10-16 20:42

紅外避障.rar (795 Bytes, 下載次數(shù): 52)

#include<reg52.h> #include<reg52.h>
#define uchar unsigned char
#define uint unsigned int
sbit IN3=P0^1; //右輪
sbit IN4=P0^2;
sbit ENB=P0^0; //使能端A
sbit IN1=P1^1; //左輪
sbit IN2=P1^2;
sbit ENA=P1^0; //使能端B
sbit left_ir=P3^2;
sbit right_ir=P3^3;
uchar t;
uchar speedL,speedR;
void init()
{
TMOD=0x01; //8位自動重裝
TH0=(65536-20000)/256; //發(fā)生依次中斷需要20ms
TL0=(65536-20000)%256;
ET0=1;
EA=1;
TR0=1;
}
void forward(uchar speed1,uchar speed2) //左右輪都正轉(zhuǎn)==前進 //speed>=0&&speed<=100; time=speed*200us
{
speedL=speed1;
ENA=1;
IN1=0;
IN2=1;
speedR=speed2;
ENB=1;
IN3=1;
IN4=0;
}
void backward(uchar speed3,uchar speed4) //左右輪都反轉(zhuǎn)==后退
{
speedL=speed3;
ENA=1;
IN1=1;
IN2=0;
speedR=speed4;
ENB=1;
IN3=0;
IN4=1;
}
void turn_right(uchar speed5,uchar speed6) //右轉(zhuǎn)
{
speedL=speed5;
ENA=1;
IN1=0; //左輪正轉(zhuǎn)
IN2=1;
speedR=speed6; //右輪反轉(zhuǎn)
ENB=1;
IN3=0;
IN4=1;
}
void turn_left(uchar speed7,uchar speed8) //左轉(zhuǎn)
{
speedL=speed7; //左輪反轉(zhuǎn)
ENA=1;
IN1=1;
IN2=0;
speedR=speed8; //右輪正轉(zhuǎn)
ENB=1;
IN3=1;
IN4=0;
}
void main()
{
init();
while(1)
{
if(left_ir==0&&right_ir==0)
{
backward(30,50);
}
else if(left_ir==0)
{
turn_right(30,30);
}
else if(right_ir==0)
{
turn_left(30,30);
}
else
{
forward(30,30);
}
}
}
void Timer0() interrupt 1
{
if(ENA==1)
{
TH0=(65536-speedL)/256;
TL0=(65536-speedL)%256;
ENA=0;
}
if(ENB==1)
{
TH0=(65536-speedR)/256;
TL0=(65536-speedR)%256;
ENB=0;
}
if(ENA==0)
{
TH0=(65536-20000+speedL)/256;
TL0=(65536-20000+speedL)%256;
ENA=1;
}
if(ENB==0)
{
TH0=(65536-20000+speedR)/256;
TL0=(65536-20000+speedR)%256;
ENB=1;
}
}