基于51系列单片机的音乐智能寻迹避障小车的设计与控制

科科 学学技技术术学学院院 SCIENCE sbit MIC=P16; sbit musicdecode=P20; sbit QDdcmotor_IA=P21; sbit QDdcmotor_IB=P22; sbit FXdcmotor_IA=P23; sbit FXdcmotor_IB=P24; uchar xunjidecode=0x00; uchar kjflag=0; /*函数声明*/ void musicdelay(uint z); void stopcar(); void kjstopdecode(); void ZUOZHUANcar(); void ZUOZHUANdecode(); void QJcar(); void QJdecode(); void backcar(); void backdecode(); void YOUZHUANcar(); void YOUZHUANdecode(); void bzdecode(); void showmusiccar(); 18 void musicdelay(uint z) uint x,y; for(x=z;x0;x-) for(y=60;y0;y-); void stopcar() QDdcmotor_IA=0; QDdcmotor_IB=0; FXdcmotor_IA=0; FXdcmotor_IB=0; void kjstopdecode() uint i; for(i=4;i0;i-) musicdecode=1;/1 musicdelay(1); /*每个脉冲信号 0.5ms,一组共 32.2ms*/ musicdecode=0; /2 musicdelay(1); musicdecode=1; /3 musicdelay(3); musicdecode=0; /4 musicdelay(1); musicdecode=1; /5 musicdelay(3); musicdecode=0; /6 19 musicdelay(1); musicdecode=1; /7 musicdelay(3); musicdecode=0; /8 musicdelay(1); musicdecode=1;/9 musicdelay(3); musicdecode=0; /10 musicdelay(1); musicdecode=1;/11 musicdelay(3); musicdecode=0; /12 musicdelay(1); musicdecode=1;/13 musicdelay(3); musicdecode=0; /14 musicdelay(3); musicdecode=1;/15 musicdelay(1); musicdecode=0; /16 musicdelay(1); musicdecode=1;/17 musicdelay(3); 20 musicdecode=0; /18 musicdelay(1); musicdecode=1;/19 musicdelay(3); musicdecode=0; /20 musicdelay(1); musicdecode=1;/21 musicdelay(3); musicdecode=0; /22 musicdelay(3); musicdecode=1; /23 musicdelay(1); musicdecode=0; /24 musicdelay(1); musicdecode=1;/25 musicdelay(3); musicdecode=0; /26 musicdelay(3); musicdecode=1;/27 musicdelay(1); musicdecode=0; /28 musicdelay(3); 21 musicdecode=1;/29 musicdelay(1); musicdecode=0; /30 musicdelay(3); musicdecode=1;/31 musicdelay(1); musicdecode=0; /32 musicdelay(3); void ZUOZHUANcar() FXdcmotor_IA=1; FXdcmotor_IB=0; / musicdelay(20); QDdcmotor_IA=1; QDdcmotor_IB=0; musicdelay(125); QDdcmotor_IA=0; QDdcmotor_IB=0; / musicdelay(15); void ZUOZHUANdecode() uint i; for(i=4;i0;i-) musicdecode=1;/1 musicdelay(1); musicdecode=0; /2 musicdelay(1); musicdecode=1; 22 /3 musicdelay(3); musicdecode=0; /4 musicdelay(1); musicdecode=1; /5 musicdelay(3); musicdecode=0; /6 musicdelay(1); musicdecode=1; /7 musicdelay(3); musicdecode=0; /8 musicdelay(1); musicdecode=1;/9 musicdelay(3); musicdecode=0; /10 musicdelay(1); musicdecode=1;/11 musicdelay(3); musicdecode=0; /12 musicdelay(3); musicdecode=1;/13 musicdelay(1); 23 musicdecode=0; /14 musicdelay(1); musicdecode=1;/15 musicdelay(3); musicdecode=0; /16 musicdelay(1); musicdecode=1;/17 musicdelay(3); musicdecode=0; /18 musicdelay(1); musicdecode=1;/19 musicdelay(3); musicdecode=0; /20 musicdelay(1); musicdecode=1;/21 musicdelay(3); musicdecode=0; /22 musicdelay(3); musicdecode=1; /23 musicdelay(1); musicdecode=0; /24 musicdelay(1); 24 musicdecode=1;/25 musicdelay(3); musicdecode=0; /26 musicdelay(3); musicdecode=1;/27 musicdelay(1); musicdecode=0; /28 musicdelay(3); musicdecode=1;/29 musicdelay(1); musicdecode=0; /30 musicdelay(3); musicdecode=1;/31 musicdelay(1); musicdecode=0; /32 musicdelay(3); void QJcar() QDdcmotor_IA=1; QDdcmotor_IB=0; musicdelay(125); QDdcmotor_IA=0; QDdcmotor_IB=0; /musicdelay(15); FXdcmotor_IA=0; FXdcmotor_IB=0; 25 void QJdecode() uint i; for(i=4;i0;i-) musicdecode=1;/1 musicdelay(1); musicdecode=0; /2 musicdelay(1); musicdecode=1; /3 musicdelay(3); musicdecode=0; /4 musicdelay(1); musicdecode=1; /5 musicdelay(3); musicdecode=0; /6 musicdelay(1); musicdecode=1; /7 musicdelay(3); musicdecode=0; /8 musicdelay(3); musicdecode=1;/9 musicdelay(1); musicdecode=0; /10 26 musicdelay(1); musicdecode=1;/11 musicdelay(3); musicdecode=0; /12 musicdelay(1); musicdecode=1;/13 musicdelay(3); musicdecode=0; /14 musicdelay(1); musicdecode=1;/15 musicdelay(3); musicdecode=0; /16 musicdelay(1); musicdecode=1;/17 musicdelay(3); musicdecode=0; /18 musicdelay(1); musicdecode=1;/19 musicdelay(3); musicdecode=0; /20 musicdelay(1); musicdecode=1;/21 musicdelay(3); 27 musicdecode=0; /22 musicdelay(3); musicdecode=1; /23 musicdelay(1); musicdecode=0; /24 musicdelay(1); musicdecode=1;/25 musicdelay(3); musicdecode=0; /26 musicdelay(3); musicdecode=1;/27 musicdelay(1); musicdecode=0; /28 musicdelay(3); musicdecode=1;/29 musicdelay(1); musicdecode=0; /30 musicdelay(3); musicdecode=1;/31 musicdelay(1); musicdecode=0; /32 musicdelay(3); 28 void backcar() QDdcmotor_IA=0; QDdcmotor_IB=1; musicdelay(200); QDdcmotor_IA=0; QDdcmotor_IB=0; / musicdelay(10); FXdcmotor_IA=0; FXdcmotor_IB=0; void backdecode() uint i; for(i=4;i0;i-) musicdecode=1;/1 musicdelay(1); musicdecode=0; /2 musicdelay(1); musicdecode=1; /3 musicdelay(3); musicdecode=0; /4 musicdelay(1); musicdecode=1; /5 musicdelay(3); musicdecode=0; /6 musicdelay(3); musicdecode=1; 29 /7 musicdelay(1); musicdecode=0; /8 musicdelay(1); musicdecode=1;/9 musicdelay(3); musicdecode=0; /10 musicdelay(1); musicdecode=1;/11 musicdelay(3); musicdecode=0; /12 musicdelay(1); musicdecode=1;/13 musicdelay(3); musicdecode=0; /14 musicdelay(1); musicdecode=1;/15 musicdelay(3); musicdecode=0; /16 musicdelay(1); musicdecode=1;/17 musicdelay(3); musicdecode=0; /18 30 musicdelay(1); musicdecode=1;/19 musicdelay(3); musicdecode=0; /20 musicdelay(1); musicdecode=1;/21 musicdelay(3); musicdecode=0; /22 musicdelay(3); musicdecode=1; /23 musicdelay(1); musicdecode=0; /24 musicdelay(1); musicdecode=1;/25 musicdelay(3); musicdecode=0; /26 musicdelay(3); musicdecode=1;/27 musicdelay(1); musicdecode=0; /28 musicdelay(3); musicdecode=1;/29 musicdelay(1); 31 musicdecode=0; /30 musicdelay(3); musicdecode=1;/31 musicdelay(1); musicdecode=0; /32 musicdelay(3); void YOUZHUANcar() FXdcmotor_IA=0; FXdcmotor_IB=1; / musicdelay(20); QDdcmotor_IA=1; QDdcmotor_IB=0; musicdelay(125); QDdcmotor_IA=0; QDdcmotor_IB=0; void YOUZHUANdecode() uint i; for(i=4;i0;i-) musicdecode=1;/1 musicdelay(1); musicdecode=0; /2 musicdelay(1); musicdecode=1; /3 musicdelay(3); 32 musicdecode=0; /4 musicdelay(1); musicdecode=1; /5 musicdelay(3); musicdecode=0; /6 musicdelay(1); musicdecode=1; /7 musicdelay(3); musicdecode=0; /8 musicdelay(1); musicdecode=1;/9 musicdelay(3); musicdecode=0; /10 musicdelay(3); musicdecode=1;/11 musicdelay(1); musicdecode=0; /12 musicdelay(1); musicdecode=1;/13 musicdelay(3); musicdecode=0; /14 musicdelay(1); 33 musicdecode=1;/15 musicdelay(3); musicdecode=0; /16 musicdelay(1); musicdecode=1;/17 musicdelay(3); musicdecode=0; /18 musicdelay(1); musicdecode=1;/19 musicdelay(3); musicdecode=0; /20 musicdelay(1); musicdecode=1;/21 musicdelay(3); musicdecode=0; /22 musicdelay(3); musicdecode=1; /23 musicdelay(1); musicdecode=0; /24 musicdelay(1); musicdecode=1;/25 musicdelay(3); 34 musicdecode=0; /26 musicdelay(3); musicdecode=1;/27 musicdelay(1); musicdecode=0; /28 musicdelay(3); musicdecode=1;/29 musicdelay(1); musicdecode=0; /30 musicdelay(3); musicdecode=1;/31 musicdelay(1); musicdecode=0; /32 musicdelay(3); void bzdecode() uint i; for(i=4;i0;i-) musicdecode=1;/1 musicdelay(1); musicdecode=0; /2 musicdelay(1); musicdecode=1; /3 musicdelay(3); 35 musicdecode=0; /4 musicdelay(1); musicdecode=1; /5 musicdelay(3); musicdecode=0; /6 musicdelay(1); musicdecode=1; /7 musicdelay(3); musicdecode=0; /8 musicdelay(1); musicdecode=1;/9 musicdelay(3); musicdecode=0; /10 musicdelay(1); musicdecode=1;/11 musicdelay(3); musicdecode=0; /12 musicdelay(1); musicdecode=1;/13 musicdelay(3); musicdecode=0; /14 36 musicdelay(1); musicdecode=1;/15 musicdelay(3); musicdecode=0; /16 musicdelay(3); musicdecode=1;/17 musicdelay(1); musicdecode=0; /18 musicdelay(1); musicdecode=1;/19 musicdelay(3); musicdecode=0; /20 musicdelay(1); musicdecode=1;/21 musicdelay(3); musicdecode=0; /22 musicdelay(3); musicdecode=1; /23 musicdelay(1); musicdecode=0; /24 musicdelay(1); musicdecode=1;/25 musicdelay(3); 37 musicdecode=0; /26 musicdelay(3); musicdecode=1;/27 musicdelay(1); musicdecode=0; /28 musicdelay(3); musicdecode=1;/29 musicdelay(1); musicdecode=0; /30 musicdelay(3); musicdecode=1;/31 musicdelay(1); musicdecode=0; /32 musicdelay(3); void showmusiccar() uint i; for(i=4;i0;i-) musicdecode=1;/1 musicdelay(1); musicdecode=0; /2 musicdelay(1); musicdecode=1; /3 38 musicdelay(3); musicdecode=0; /4 musicdelay(1); musicdecode=1; /5 musicdelay(3); musicdecode=0; /6 musicdelay(1); musicdecode=1; /7 musicdelay(3); musicdecode=0; /8 musicdelay(1); musicdecode=1;/9 musicdelay(3); musicdecode=0; /10 musicdelay(1); musicdecode=1;/11 musicdelay(3); musicdecode=0; /12 musicdelay(1); musicdecode=1;/13 musicdelay(3); musicdecode=0; 39 /14 musicdelay(1); musicdecode=1;/15 musicdelay(3); musicdecode=0; /16 musicdelay(1); musicdecode=1;/17 musicdelay(3); musicdecode=0; /18 musicdelay(1); musicdecode=1;/19 musicdelay(3); musicdecode=0; /20 musicdelay(3); musicdecode=1;/21 musicdelay(1); musicdecode=0; /22 musicdelay(3); musicdecode=1; /23 musicdelay(1); musicdecode=0; /24 musicdelay(1); musicdecode=1;/25 40 musicdelay(3); musicdecode=0; /26 musicdelay(3); musicdecode=1;/27 musicdelay(1); musicdecode=0; /28 musicdelay(3); musicdecode=1;/29 musicdelay(1); musicdecode=0; /30 musicdelay(3); musicdecode=1;/31 musicdelay(1); musicdecode=0; /32 musicdelay(3); void main() while(1) xunjidecode=P1; if(BZ=0) / 遇到障碍物停车，鸣放喇叭 stopcar();bzdecode(); else switch(xunjidecodebackdecode();break; else stopcar();break;/停止 case 0x01:if(kjflag=1) YOUZHUANcar();YOUZHUANcar();YOUZHUANdecode();break; /偏左、应右转 并右转演示 else stopcar();break;/停止 case 0x02:if(kjflag=1) YOUZHUANcar();YOUZHUANdecode();break;/偏左、应右转 并右转演示 else stopcar();break;/停止 case 0x03:if(kjflag=1) YOUZHUANcar();YOUZHUANcar();YOUZHUANdecode();break;/偏左、 应右转 并右转演示 else stopcar();break;/停止 case 0x04:if(kjflag=1) QJcar();QJdecode();break; /基 本居中、前进 并前进演示 else stopcar();break;/停止 case 0x06:if(kjflag=1) YOUZHUANcar();YOUZHUANdecode();break;/偏左、应右转 并右转演示 else stopcar();break;/停止 case 0x08:if(kjflag=1) QJcar();QJdecode();break; /基 本居中、前进 并前进演示 else stopcar();break;/停止 case 0x0C:if(kjflag=0) 42 kjflag=1;kjstopdecode(); QJcar();QJdecode();break;/居中、前进 并前 进演示 case 0x10:if(kjflag=1) ZUOZHUANcar();ZUOZHUANdecode();break;/偏右、应左转 并 左转演示 else stopcar();break;/停止 case 0x18:if(kjflag=1) ZUOZHUANcar();ZUOZHUANdecode();break;/偏右、应左转 并 左转演示 else stopcar();break;/停止 case 0x20:if(kjflag=1) ZUOZHUANcar();ZUOZHUANcar();ZUOZHUANdecode();break;/偏右、 应左转 并左转演示 else stopcar();break;/停止 case 0x30:if(kjflag=1) ZUOZHUANcar();ZUOZHUANcar();ZUOZHUANdecode();break;/偏右、 应左转 并左转演示 else stopcar();break;/停止 case 0x3F:stopcar();showmusiccar();if(kjflag=1)kjstopdecode();kjflag=0;break;/到达终点，停止 并停车演示 第五章 性能测试与分析 5.1 传感 PCB 板传感信号的测量 仪器：数字万用表，电源，黑白挡板。 RPR220 传感信号测量： 在有白色挡板挡住时哥哥信号以为低电平，黑色挡板挡住时，应为高电平，前低电平最 好 2V 以下，高电平 3.75V 以上，因为单片机要识别其为“0”还是“1” 。 注：检测信号应一级一级检测，且芯片不能先插，若发现某个不正常时也应从前面开始 检测。 驻极体传感信号测量： 因为采用了三级管 2 级放大，有电路可知当物声音时输出应为高电平，有声音时电平 为“低” 。 43 避障传感信号测量： 当传感器前方有障碍物时输出为低电平，且传感器会有指示灯亮，在这里我们用到的 传感器可以调感应距离，所以还得调好参数。 5.2 控制 PCB 板测量 仪器：示波器，电源。 1 先检测时钟信号，用示波器观察时会发现有上下变化的跳动的线，这说明晶振产生了振 荡。 2 复位信号测量，当按下按键时应为高电平复位。 5.3 小车跑道测试 小车跑道测试项目：启动、速度、直行、转弯、倒车、相应音乐演示等。 启动：在由程序可知小车只有在中间 2 个管检测到黑线且有声音时才启动。所以测试启动 是否正常，检测有时正常，为了稳定修正时屏蔽了声音信号。 速度：速度控制是在小车可以稳定在跑道演示时去调节 PMW 波来提高速度。 直行：在小车检测到较小的黑线偏转时小车应能及时修正行进路线，使小车行进稳定，不 会左右摆动。 转弯：当检测前方要转向时，观察转向是否正常，是否通过连贯。 倒车：当小车跑出跑道时，应倒车回到跑道上，继续寻迹前进。 音乐：小车启动，转向，倒车灯都会有相应的音乐提示，观察是否正常。 实训体会： 从过这次训练，我们复习了课本知识，也在实训中学会了去运用课本知识，比如，模