大神們幫我看看為啥用紅外控制小車不動唄

ID:237053 · 發表于 2017-10-21 18:06

#include<reg52.h>
#define const_interrupt_time 792
#define uchar unsigned char
#define uint unsigned int
void initial_myself();
void initial_peripheral();
void delay_short(uint uiDelayShort);
void delay_long(uint uiDelaylong);
void Int0();
void detectorIR();
void run();
sbit IR_sr=P3^2;
sbit P1_0=P1^0;
sbit P1_1=P1^1;
sbit P1_2=P1^2;
sbit P1_3=P1^3;
uchar ucMotorStep=0;
uchar ucdata;
void delay(uchar x);
void delay1(int ms);
void beep();
unsigned char pwm_val_left  =0;
unsigned char push_val_left =0;
unsigned char pwm_val_right =0;
unsigned char push_val_right=0;
bit Right_moto_stop=1;
bit Left_moto_stop =1;
unsigned  int  time=0;
sbit Left_moto_pwm=P1^6;
sbit Right_moto_pwm=P1^7;

void main()
  {
initial_myself();
delay_long(100);
initial_peripheral();
while(1)
{
         detectorIR();
         run();
}

}
void detector_IR()
{
      if(ucdata==0x73) ucMotorStep=1;
      else if(ucdata==0x56) ucMotorStep=2;
      else if(ucdata==0x7b) ucMotorStep=3;
      else if(ucdata==0x52) ucMotorStep=4;
      else if(ucdata==0x71) ucMotorStep=5;
      else ucMotorStep=5;
}
void run()
{
      switch(ucMotorStep)
      {
            case 1:
      push_val_left  =3;
      push_val_right =3;
                              P1_0=1;
                              P1_1=0;
                              P1_2=1;
                              P1_3=0;
                              break;
            case 2:
                              push_val_left  =3;
      push_val_right =3;
      P1_0=0;
                              P1_1=1;
                              P1_2=0;
                              P1_3=1;
                              break;
            case 3:
                              push_val_left  =2;
      push_val_right =2;
      P1_0=0;
                              P1_1=1;
                              P1_2=1;
                              P1_3=0;
                              break;
            case 4:
                              push_val_left  =2;
      push_val_right =2;
      P1_0=1;
                              P1_1=0;
                              P1_2=0;
                              P1_3=1;
                              break;
            case 5:
                              P1_0=0;
                              P1_1=0;
                              P1_2=0;
                              P1_3=0;
                              break;
      }
}

void Int0() interrupt 0
{
      uchar i,j;
      EX0=0;
      i=10;
      while(i--)
      {
            TH0=(65535-const_interrupt_time)/256;
         TL0=(65535-const_interrupt_time)%256;
            TR0=1;
            while(!TF0);
            TF0=0;
            TR0=0;
            while(IR_sr)
            {
                     EX0=1;
                     return;
            }
      }
      while(!IR_sr);
      j=5;
      while(j--)
      {
            TH0=(65535-const_interrupt_time)/256;
         TL0=(65535-const_interrupt_time)%256;
            TR0=1;
            while(!TF0);
            TF0=0;
            TR0=0;
            while(!IR_sr)
            {
                     EX0=1;
                     return;
            }
      }
      while(IR_sr);
      for(i=0;i<4;i++)
      {
            for(j=0;j<8;j++)
            {

                     while(!IR_sr);
                     TH0=(65535-const_interrupt_time)/256;
                  TL0=(65535-const_interrupt_time)%256;
                     TR0=1;
                     while(!TF0);
                     TF0=0;
                     TR0=0;
                     if(IR_sr)
                     {
                              ucdata|=0x80;
      while(IR_sr);
                     }
                     ucdata>>=1;
            }
      }
      EX0=1;
return;
}

void delay_long(unsigned int uiDelayLong)
{
unsigned int i;
unsigned int j;
for(i=0;i<uiDelayLong;i++)
{
   for(j=0;j<500;j++)
         {
            ;
         }
}
}

void initial_myself()
{

  TMOD=0x01;
}

void initial_peripheral()
{

ET0=1;
IT0=1;
EX0=1;
EA=1;
}
void pwm_out_left_moto(void)
{
if(Left_moto_stop)
{
if(pwm_val_left<=push_val_left)
      Left_moto_pwm=1;
else
      Left_moto_pwm=0;
if(pwm_val_left>=10)
pwm_val_left=0;
}
else  Left_moto_pwm=0;
}

void pwm_out_right_moto(void)
{
  if(Right_moto_stop)
{
if(pwm_val_right<=push_val_right)
      Right_moto_pwm=1;
else
      Right_moto_pwm=0;
if(pwm_val_right>=10)
pwm_val_right=0;
}
else Right_moto_pwm=0;
}
void timer0()interrupt 1 using 2
{
   TH0=0XF8;
  TL0=0X30;
  time++;
  pwm_val_left++;
  pwm_val_right++;
  pwm_out_left_moto();
  pwm_out_right_moto();
}