两轮智能车pwm电机调速程序.doc

/*晶振：11.0592，输出的PWM直接给L298N以驱动电机，通过调节（percent_l = 90;）等号后的数值，与（Sum 100）的比值，为占空比，如上取90比100则输出PWM波占空比为9/10的高电平，1/10的低电平，低电平时间越长则速度越慢。要注意的是调节#defineSum 100的值可以调节PWM的总周期，调节#define tim 200的值可以调节定时器的定时周期。*/#include#define uchar unsigned char#define uint unsigned int#define MOTOR_C P1 /P1口作为电机的控制口。#define BACK 0xfa /后退，0b1111 1010#define FORWARD 0xf5 /前进,0b1111 0101#defineSum 100/总周期，为100倍的定时器时间大约27ms#define tim 200/初值数 200约270ussbit PWM_L = P10; /左电机前进sbit PWM_R = P12; /右电机前进sbit PWM_HL = P11;/左电机后退sbit PWM_HR = P13;/右电机后退void timer0_init( void ); /定时器0初始化函数。void timer1_init( void );/定时器1初始化函数。void right( void ); /前进右转弯函数。void left( void ); /前进左转弯函数。void forward( void ); /前进函数。void hright(void);/后退右转函数。void hleft(void);/后退左转函数。void back(void);/后退函数。void stop(void);/停止void Delayms();/延时1msvoid Delay100ms(unsigned int d); /延时100msuchar percent_l = 0; /（前进）左轮占空比。uchar percent_r = 0; /（前进）右轮占空比。uchar percent_hl = 0;/（后退）左轮占空比。uchar percent_hr = 0;/（后退）右轮占空比。uchar run_time = 0; /车轮运行一步的时间。void main( void )timer0_init();timer1_init();MOTOR_C=0x00;while(1)left();Delay100ms(10);right();Delay100ms(10);back();Delay100ms(10);forward();Delay100ms(10);stop();void timer0_init( void ) TMOD = 0X11; TH0 = (65536 - tim) / 256; TL0 = (65536 - tim) % 256; EA = 1; /开总中断。 ET0 = 1; /开定时器0中断。 TR0 = 1; /启动定时器0。void timer1_init( void ) TH1 = (65536 - tim) / 256; TL1 = (65536 - tim) % 256; ET1=1;TR1=1;/*前进方向*/void right( void ) percent_l = 90; /左轮速度快，最好去50以上 percent_r = 0; /右轮速度慢。percent_hl = 0; percent_hr = 0;void left( void ) percent_l =0; /左轮速度慢。 percent_r = 90; /右轮速度快。percent_hl = 0; percent_hr = 0;void forward( void ) percent_l = 99; /左轮同速度。 percent_r = 99; /右轮同速度。percent_hl = 0; percent_hr = 0;/*后退方向*/void hright(void )/percent_hr = 90;/percent_hl = 0;/percent_r = 0;/percent_l = 0;/void hleft( void )/percent_hr = 0;/percent_hl = 90;/percent_r = 0;/percent_l = 0;/void back( void )percent_hl = 99; percent_hr = 99;percent_l = 0;percent_r = 0;void stop( void ) percent_l = 0; /左轮零速度。 percent_r = 0; /右轮零速度。percent_hl = 0; percent_hr = 0;/*中断服务*/void timer_0 ( void ) interrupt 1 using 1 static uchar temp = 0; /中断次数计数。 TR0 = 0; if(temp Sum) /关总中断，屏蔽其他中断。 if(temp percent_l) PWM_L = 1; /左电机高电平。 else PWM_L = 0; /左电机低电平。 if(temp percent_r) PWM_R = 1; /右电机高电平。 else PWM_R = 0; /右电机低电平。 else temp=0;temp +;TH0 = (65536 - tim) / 256; TL0 = (65536 - tim) % 256; /实现计数。 TR0 = 1; /开总中断。void timer1 ( void ) interrupt 3 using 2static uchar temp1 = 0;TR1 = 0; /关总中断，屏蔽其他中断。if(temp1 Sum) if(temp1 percent_hl) PWM_HL = 1; /左电机高电平。 else PWM_HL = 0; /左电机低电平。 if(temp1 0;c-)