基于ATMega16单片机小车循迹程序.doc

#include #include #include #include #include #define uchar unsigned char#define uint unsigned int#define deng (PINB&0x1F) uchar k,j,i,flag;uchar table=0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7F,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71;uchar miao=0,fen=0;uchar data7=;void display( uchar n,uchar m)/数码管显示函数 DDRA|=0XFF; DDRD|=0X7F; PORTD&=0XF0; PORTA=tablen; switch(m) case 1:PORTD&=0XF7;break; case 2:PORTD&=0XFB;break; case 3:PORTD&=0XFD;break; case 4:PORTD&=0XFE;break; default :break; _delay_ms(5); void motor_forward(void)/两轮前进 DDRD|=0X7F;DDRC|=0X03; TCCR1A=0Xa2;/14模式 TCCR1B=0X1b;/64分频 ICR1H=0X18; ICR1L=0X69;/20HZ PORTC|=0X00; OCR1A=1000; OCR1B=1000;void motor_turnleft(void) DDRD|=0X70;DDRC|=0X03; TCCR1A=0Xa2;/14模式 TCCR1B=0X1b;/64分频 ICR1H=0X18; ICR1L=0X69;/20HZ PORTC|=0X00; OCR1A=1000; OCR1B=500;void motor_turnright(void) DDRD|=0X70;DDRC|=0X03; TCCR1A=0Xa2;/14模式 TCCR1B=0X1b;/64分频 ICR1H=0X18; ICR1L=0X69;/20HZ PORTC|=0X00; OCR1A=500; OCR1B=1000; void motor_turnback(void) DDRD|=0X70;DDRC|=0X03; TCCR1A=0Xa2;/14模式 TCCR1B=0X1b;/64分频 ICR1H=0X18; ICR1L=0X69;/20HZ PORTC|=0X03; OCR1A=1000; OCR1B=1000;void motor_stop(void) DDRD|=0X70;DDRC|=0X03;PORTD&=0XCF; / TCCR1A=0Xa2;/14模式 / TCCR1B=0X1b;/64分频 / ICR1H=0X18; / ICR1L=0X69;/20HZ PORTC&=0XFC; / OCR1A=0; / OCR1B=0;/*void motor_speedup(void) DDRD|=0X70;DDRC|=0X03; TCCR1A=0Xa2;/14模式 TCCR1B=0X1b;/64分频 ICR1H=0X18; ICR1L=0X69;/20HZPORTC&=0XFC; OCR1A=1000; OCR1B=1000; OCR1A+=20; OCR1B+=20;void motor_speeddown(void) DDRD|=0X70;DDRC|=0X03; TCCR1A=0Xa2;/14模式 TCCR1B=0X1b;/64分频 ICR1H=0X18; ICR1L=0X69;/20HZPORTC&=0XF5; OCR1A=1000; OCR1B=1000; OCR1A- OCR1B-=20;*/void motor_xunji(void)/循迹函数 DDRB&=0XE0 ; if(deng=0x04) SREG|=0X80; motor_forward(); while(deng=0x04); if(deng=0x0c) motor_turnleft(); while(deng=0x0c) ; if(deng=0x08) motor_turnleft(); while(deng=0x08); if(deng=0x06) motor_turnright(); while(deng=0x06); if(deng=0x02) motor_turnright(); while(deng=0x02); if(deng=0x18) motor_turnleft(); while(deng=0x18); if(deng=0x03) motor_turnright(); while(deng=0x03); if(deng=0x01) motor_turnright(); while(deng=0x01); if(deng=0x10) motor_turnleft(); while(deng=0x10); if(deng=0x00) motor_stop(); while(deng=0x00); int main(void) TCCR0=0X04;/256分频 TCNT0=0X50;/10ms TIMSK=0X01; wdt_enable(WDTO_2S); SREG|=0X80; while(1) wdt_reset(); motor_xunji();_delay_ms(5); display(miao/10,2); _delay_ms(3); display(miao%10,1); _delay_ms(3); display(fen/10,4); _delay_ms(3); disp