智能小车各独立模块_红外遥控_电机驱动_超声波_红外寻迹.doc

相信进来的都是想学习和制作智能小车的，最近也在学习智能小车，我们的小车功能时红外遥控小车，小车避障，小车寻迹。现在将学习过程中所发现的一些比较好的代码与大家分享，希望能对大家有所帮助。红外遥控#include #include #include #define uchar unsigned char#define uint unsigned intsbit irin = p32; /红外线一体化接收头接收端sbit out1=p21;sbit out2=p22;sbit out3=p23;sbit out4=p24;sbit out5=p25;sbit out6=p26;sbit out7=p27;sbit out8=p20;uchar irtemp; /红外线按键数据存放变量uchar ircom7=0;/存放红外解码后的32位数据void delay_140us(uchar t) /延时140usuchar i,j;for(j=0; jt; j+)for (i=0; i27; i+) _nop_();void delay_1ms(uint t) /延时1msuint i,j;for(i=0;it;i+)for(j=0;j=100;j+)_nop_();void outsideinit(void) /设置外部中断初始化ex0 = 1; /开外部中断0it0 = 1; /负边沿触发ea = 1; /开总中断void irreceive(void) interrupt 0 using 2 /设置中断接收红外编码uchar i, j, count = 0;ex0 = 0; /关闭外部中断1delay_140us(20);if(irin = 1) /确认红外线信号出现 ex0 = 1;return;while(!irin) /等ir变为高电平，跳过9ms的前导低电平信号。 delay_140us(1); while(irin) /等ir变为低电平，跳过4.5ms的前导高电平信号。 delay_140us(1);for (i=0;i4;i+) /收集四组数据 for(j=0;j= 30)/计数过长自动离开。ex0=1;return; ircomi = ircomi 1; /数据右移一位，最高位补0if(count =6 ) ircomi = ircomi | 0x80; /数据最高位或上1count = 0; if(ircom2!=ircom3) /不相等，则红外遥控解码错误ex0=1;return; ex0 = 1; void main(void) irin = 1; /接收端口初始化outsideinit(); /初始化外部中断while (1) if (ircom2=0x0c) /按1 out1=0; else out1=1;if (ircom2=0x18) /按2 out2=0; else out2=1;if (ircom2=0x5e) /按3 out3=0; else out3=1; if (ircom2=0x08)/按4 out4=0; else out4=1; if (ircom2=0x1c)/按5 out5=0; else out5=1; if (ircom2=0x5a)/按6 out6=0; else out6=1; if (ircom2=0x42)/按7 out7=0; else out7=1; if (ircom2=0x52)/按8 out8=0; else out8=1; 电机驱动#include #include #include #include #define unsigned char#define unsigned intuchar pwm=20;uchar pwmh=1;uchar conter=0;uchar m=1;bit sw=1;bit lr=0;sbit ksw=p10;sbit klr=p11;sbit kspu=p12;sbit kspd=p13;sbit m1=p14;sbit m2=p15;void delay1ms() /11.0592mhz unsigned char i, j; _nop_(); _nop_(); _nop_(); i = 11; j = 190; do while (-j); while (-i);/tms延时void delayxms (uint t) uchar i; for(i-0;ipwmh) m=0; if (counter=pwmh) counter=0; m1=1; void main () gpio(); time0_int(); while (1) if(ksw=0) delayxms(10); if (ksw=0) sw=sw; while (ksw=0)display(); if(klr=0) delayxms(10); if (klr=0) lr=lr; while (klr=0)display(); if(kspu=0) delayxms(10); if (kspu=0) pwmh+; if(pwmh=pwm) pwmh=pwm-1; while (kspu=0)display(); if (kspd=0) delayxms(10); if (kspd=0) pwmh-; if (pwmh=0) pwmh=1; while (kspd=0)display(); if (sw=0) m1=0; m2=0; dis_buf0=13; dis_buf1=13; dis_buf2=13; dis_buf3=13; dis_buf4=13; dis_buf5=13; dis_buf6=13; dis_buf7=13; if(sw=1) dis_buf0=pwm%10; dis_buf1=pwm/10; dis_buf2=12; dis_buf3=pwmh%10; dis_buf4=pwm/10; dis_buf5=12; dis_buf6=12; if (lr=0) m1=0; m2=m; dis_buf7=10; if (lr=1) m1=m; m2=0; dis_buf7=11; display();超声波避障#include #include #include #define uchar unsigned char#define uint unsigned intsbit tri=p20;sbit rea=p21;sbit bell=p27;uchar count;bit bell_flag;void delay12us()/11.0592mhzunsigned char i;_nop_();_nop_();_nop_();i = 30;while (-i);/tms延时void delayxms (uint t)uint i;for(i-0;it;i+)void init()tri=0;tmod=0x10;tr1=0;th1=0;tl1=0;uint test_distance()uint date;tri=1;delay12us();tri=0;while (!rea)tr1=0;date=(uint)(th1*256+tl1)/10*18;th1=0;tl1=0;if (date2000) bell_flag=0;else bell_flag=1;return date;void main ()uint distance;gpio();init();while (1) distance=test_distance();dis_duf0=distance%10;dis_duf1=distance/10%10;dis_duf2=distance/100%10+17;dis_duf3=distance/1000%10;dis_duf4=distance/10000%10;display();if(bell_flag)bellbell;else bell=1;delayxms(30);红外寻迹#include /包含51单片机相关的头文件sbit leftled=p20; /定义前方左侧指示灯端口sbit rightled=p07; /定义前方右侧指示灯端口sbit fontlled=p10;sbit leftir=p35; /定义前方左侧红外探头端口sbit rightir=p36; /定义前方右侧红外探头端口sbit fontir=p37; /定义前方正前方红外探头端口sbit m1a=p00; /定义左侧电机驱动a端sbit m1b=p01; /定义左侧电机驱动b端sbit m2a=p02; /定义右侧电机驱动a端sbit m2b=p03; /定义右侧电机驱动b端sbit b1=p04; /定义语音识识别传感器端口sbit sb1=p06; /定义蜂鸣器端口void tingzhi() m1a=0; /将m1电机a端初始化为0 m1b=0; /将m1电机b端初始化为0 m2a=0; /将m2电机a端初始化为0 m2b=0;void qianjin() m1a=1; m1b=0; m2a=1; m2b=0;void houtui() m1a=0; m1b=1; m2a=0; m2b=1;void zuozhuan() m1a=0; m1b=1; m2a=1; m2b=0;void youzhuan() m1a=1; m1b=0; m2a=0; m2b=1;void delay_nus(unsigned int i) /延时:i=12 ,i的最小延时单12 us i=i/10; while(-i); void delay_nms(unsigned int n) /延时n ms n=n+1; while(-n) delay_nus(900); /延时 1ms,同时进行补偿 void controlcar(unsigned char contype) /定义电机控制子程序 tingzhi(); switch(contype) /判断用户设定电机形式 case 1: /前进 /判断用户是否选择形式1 qianjin(); break; case 2: /后退 /判断用户是否选择形式2 houtui(); /m2电机反转 break; case 3: /左转 /判断用户是否选择形式3 zuozhuan(); /m2电机正转break; case 4: /右转 /判断用户是否选择形式4 youzhuan(); /m1电机正转 /m2电机反转break; case 8: /停止 /判断用户是否选择形式8 tingzhi();break; /退出当前选择 void main() /主程序入口 bit runflag=0; /定义小车运行标志位 /runshow=0; /初始化显示状态 controlcar(8); /初始化小车运行状态 while(1) /程序主循环 start: leftled=leftir; /前方左侧指示灯指示出前方左侧红外探头状态 rightled=rightir; /前方右侧指示灯指示出前方右侧红外探头状态 fontlled= fontir; sb1=leftir; if(leftir = 0 & rightir = 0) /三个红外检测到黑线，就前进 controlcar(1); /左侧没有信号时，开始向右转一定的角度 delay_nms (10); goto nextrun; if(