智能小车基本功能部分.doc

主函数#includedianji.h#includegong.hvoid main() while(1) if(key1=0) while(key1=0); while(1) zhui(); if(key1=0) while(key1=0); break;/跳出另一功能 xunji();/循迹 #ifndef _GONG_H_#define _GONG_H_#includereg52.hvoid xunji();/循迹void zhui();/红外壁障端口sbit BY1=P20;sbit BY2=P21;sbit BY3=P22;sbit key1=P23;#endif/* 小车循迹、跟踪部分*/#includedianji.h#includereg52.h#includegong.h/红外循迹端口sbit DA1=P04;sbit DA2=P05;sbit DA3=P06;sbit DA4=P07;/* 小车循迹函数小车探头有四个各一个IO口，探头探到黑线读回来的是低电平、反则为高电平*/void xunji() if(DA1=0&(DA2!=0&DA3!=0&DA4!=0) / go_y_90(110);/右转90度pin_y(110); else go_zy(); if(DA4=0&(DA2!=0&DA3!=0&DA1!=0) pin_z(110); else go_zy(); if(DA2=0&(DA1!=0&DA3!=0&DA4!=0) pin_y(60); else go_zy(); if(DA3=0&(DA1!=0&DA2!=0&DA4!=0) pin_z(60); else go_zy();/* 小车跟踪函数小车有三个壁障探头各一个IO口，探头探到物体读回来的是低电平、反则为高电平*/void zhui() if(BY2=0&(BY1!=0&BY3!=0) return_zy();/整后退 else go_zy(); if(BY1=0&(BY2!=0&BY3!=0) go_y_90(100);/右转90度 if(BY3=0) go_z_90(100);/右转90度 #ifndef _DIANJI_H_#define _DIANJI_H_#includedelay.hvoid go_z();/左轮正转void return_z();/左轮反转void go_y();/右轮正转void return_y();/右轮反转void go_zy();/整前进void return_zy();/整后退void stop_zy();void pin_y(uint a);void pin_z(uint a);void go_z_90(uint a);/左转90度void go_y_90(uint a);/右转90度#endif/* 智能小车基本功能部分 创建人：黄天言创建时间：2012年8月4日 功能：可让小车任一个轮正、反转同时包装有前进、后退、 角度转弯函数*/#includedianji.h#includereg52.h#includedelay.h/电机控制端sbit KONG1=P00;/左轮控制端sbit KONG2=P01;sbit KONG3=P02;/右轮控制端sbit KONG4=P03;void stop_z()/停止左轮 KONG1=0; KONG2=0;void stop_y()/停止右轮 KONG3=0; KONG4=0;void go_z()/左轮正转 KONG1=1; KONG2=0;void return_z()/左轮反转 KONG1=0; KONG2=1;void go_y()/右轮正转 KONG3=1; KONG4=0;void return_y()/右轮反转 KONG3=0; KONG4=1;void go_zy()/整前进 go_z();/左轮正转 go_y();/右轮正转void return_zy()/整后退 return_z();/左轮反转 return_y();/右轮反转void stop_zy() stop_z(); stop_y();void pin_z(uint a) stop_zy(); go_y();/右轮正转 delay(a); stop_zy();void pin_y(uint a) stop_zy(); go_z();/右轮正转 delay(a); stop_zy();/a:300 为90度/a:100 为30度/a:120 符合壁障转正void go_z_90(uint a) stop_zy(); return_z();/左轮反转go_y();/右轮正转delay(a);stop_zy();void go_y_90(uint a) stop_zy(); return_y();/左轮反转go_z();/右轮正转delay(a);stop_zy();#ifndef _DELAY_H_#define _DELAY_H_#define uchar unsigned char#define uint