PWM程序控制小車單片機源程序

ID:210992 · 發表于 2017-6-25 14:40

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PWM程序控制小車.rar (866 Bytes, 下載次數: 18)

2017-6-25 14:40 上傳

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PWM程序控制小車

#include<reg52.h>
sbit rs=P0^0;
sbit rw=P0^1;
sbit en=P0^2;
sbit sensera=P1^0;
sbit senserb=P1^1;
sbit senserc=P1^2;
sbit senserd=P1^3;
sbit in1=P1^4;
sbit in2=P1^5;
sbit in3=P1^6;
sbit in4=P1^7;
int left_low,left_high,right_low,right_high;
unsigned char leftsign,rightsign;
unsigned char leftback,rightback;
void timer0init()
{
TMOD=0x01;
TH0=0x00;
TL0=0x00;
EA=1;
ET0=1;
TR0=1;
}
void timer0(void) interrupt 1
{
if(leftback)
{
leftsign=!leftsign;
if(!leftsign)
{
TH0 =(65536-left_low)/256;
TL0 =(65536-left_low)%256;
in1=0;
in2=0;
}
if(leftsign)
{
TH0=(65536-left_high)/256;
TL0=(65536-left_high)%256;;
in1=1; //µ¹×ª
in2=0;
}
}
else
{
leftsign=!leftsign;
if(!leftsign)
{
TH0=(65536-left_low)/256;
TL0=(65536-left_low)%256;
in1=0;
in2=0;
}
if(leftsign)
{
TH0=(65536-left_high)/256;
TL0=(65536-left_high)%256;;
in1=0;
in2=1;
}
}
}
void timer1init()
{
TMOD=0x10;
TH1=0x00;
TL1=0x00;
EA=1;
ET1=1;
TR1=1;
}
void timer1(void) interrupt 3
{ if(rightback)
{
rightsign=!rightsign;
if(!rightsign)
{
TH1=(65536-right_low)/256;
TL1=(65536-right_low)%256;
in3=0;
in4=0;
}
if(rightsign)
{
TH1=(65536-right_high)/256;
TL1=(65536-right_high)%256;
in3=1;
in4=0;
}
}
else
{
rightsign=!rightsign;
if(!rightsign)
{
TH1=(65536-right_low)/256;
TL1=(65536-right_low)%256;
in3=0;
in4=0;
}
if(rightsign)
{
TH1=(65536-right_high)/256;
TL1=(65536-right_high)%256;
in3=0;
in4=1;
}
}
}
{
if((sensera==0&&senserb==0&&senserc==0&&senserd==1)||(sensera==0&&senserb==1&&senserc==1&&senserd==1)) // ÓÒ´ó¹Õ
{
leftback=0;
rightback=1;
ET0=1;
ET1=1;
left_high=20000;
left_low=40000;
right_high=20000;
right_low=40000;
}
else if((sensera==0&&senserb==0&&senserc==1&&senserd==1)||(sensera==0&&senserb==0&&senserc==1&&senserd==0))// ÓÒÐ¡¹Õ
{
leftback=0;
rightback=1;
ET0=1;
ET1=1;
left_high=20000;
left_low=40000;
right_high=10000;
right_low=40000;
}
else if((sensera==1&&senserb==0&&senserc==0&&senserd==0)||(sensera==1&&senserb==1&&senserc==1&&senserd==0)) // ×ó´ó¹Õ
{
leftback=1;
rightback=0;
ET0=1;
ET1=1;
left_high=20000;
left_low=40000;
right_high=20000;
right_low=40000;
}
else if((sensera==1&&senserb==1&&senserc==0&&senserd==0)||(sensera==0&&senserb==1&&senserc==0&&senserd==0)) // ×óÐ¡¹Õ
{
leftback=1;
rightback=0;
ET0=1;
ET1=1;
left_high=10000;
left_low=40000;
right_high=20000;
right_low=40000;
}
else if(sensera==1&&senserb==1&&senserc==1&&senserd==1)// Í£
{
leftback=0;
rightback=0;
ET0=0;
ET1=0;
in1=0;
in2=0;
in3=0;
in4=0;
}
else if(sensera==0&&senserb==0&&senserc==0&&senserd==0)// ºóÍË
{
leftback=1;
rightback=1;
ET0=1;
ET1=1;
left_high=10000;
left_low=50000;
right_high=10000;
right_low=50000;
}
else //Ö±×ß
{
leftback=0;
rightback=0;
ET0=1;
ET1=1;
left_high=10000;
left_low=50000;
right_high=20000;
right_low=50000;
}
}
void main()
{
timer0init();
timer1init();
while(1)
testsenser();
}

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PWM程序控制小車單片機源程序