智能循迹避障小车完整程序(亲测好使).doc

/*/利用51定时器产生PWM波来调节电机速度/速度变化范围从0-100可调/使用三路做寻迹使用,哪一路检测在黑线哪一路为/高电平/没检测到黑线表示有反射 对应输出低电平信号*/#include#define uint unsigned int#define uchar unsigned char/*电机四个接口定义*/sbit in1=P00;sbit in2=P01;sbit in3=P02;sbit in4=P03;/*计时器*/uchar j,k,i,a,A1,A2,second,minge,minshi;sbit dula=P26;sbit wela=P27;uchar code table=0x3f,0x06,0x5b,0x4f, 0x66,0x6d,0x7d,0x07,0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71;uchar code table2=0xbf,0x86,0xdb,0xcf, 0xe6,0xed,0xfd,0x87,0xff,0xef,0xf7,0xfc,0xb9,0xde,0xf9,0xf1;void delay(uchar i) for(j=i;j0;j-) for(k=110;k0;k-);void display(uchar sh_c,uchar g_c,uchar min_ge,uchar min_shi) dula=1; P0=tablesh_c; dula=0; P0=0xff; wela=1; P0=0xfb; wela=0; delay(5); dula=1; P0=tableg_c; dula=0; P0=0xff; wela=1; P0=0xf7; wela=0; delay(5); dula=1; P0=tablemin_shi; dula=0; P0=0xff; wela=1; P0=0xfe; wela=0; delay(5); dula=1; P0=table2min_ge; dula=0; P0=0xff; wela=1; P0=0xfd; wela=0; delay(5);/*左、中、右三路循迹传感器接口定义*/sbit zuo=P10;sbit zhong=P11;sbit you=P12;/*避障接口定义*/sbit bz_zuo=P13;sbit bz_zhong=P14;sbit bz_you=P15;uchar count = 0;/*利用定时器0定时中断,产生PWM波*/void Init_timer()TH0 = (65535-10)/256;TL0 = (65535-10)%256;TMOD = 0x01;TR0 = 1;ET0 = 1;EA = 1;/*左轮速度调节程序*/void zuolun(uchar speed)if(count = speed) /count计数变量in1 = 1;in2 = 0;elsein1 = 0;in2 = 1;void youlun(uchar speed) /同上if(count0;a-) display(A1,A2,minge,minshi); ; void Timer0_int()interrupt 1 /定时器中断计数TH0 =