PWM超声波小车.doc

PWM超声波小车#include#include#include/#include lcd.h/#include ad.h#include pid.h#include pwm.h#include chaoshenbo.h#define uchar unsigned char#define uint unsigned intuchar k=0x00;float max=3.0;uint adl=0,adh=0;float p=0.0048875855;uchar capv;void compare_ad(void) uchar distance; cli();StartModule();/启动超声波 while(!(PINA & (1 PA1);/ TCCR1B=0X04;/256分频。起动计时 while(PINA & (1 PA1); TCCR1B=0X00;/256分频。 停止计时 distance=(TCNT1*16)*0.034)/2;/cmsei(); / ad_Init(); / _delay_ms(2); OCR0 = PIDCalc( &spid,distance ); _delay_ms(20); int main(void) / LCD1602_Initial(); asm(nop); chaosheninit();/超声波初始化 DDRD |= (1PD4)|(1PD5)|(1PD6)|(1PD7); /pd4左反转，D5右转，D6左正转，D7右正转 PORTD &=(1PD4)|(1PD5)|(1PD6)|(1PD7); PIDInit(&spid); setPID(&spid,10,0,0); spid.SetPoint=45; init_devices(); sei(); while(1) compare_ad(); ;/SIGNAL(SIG_ADC)/ cli(); / uint adjust=0; / uchar q,g; /adl=ADCL; /adh=ADCH;/ adjust=adl; / adjust |=(adh8);/ capv= adjust*p*10; /q=capv%10;/ g=capv/10%10;/ LCD1602_Display(0xc0,g+0x30);/+30将数字转换为ASCII / LCD1602_Display(0xc1,q+0x30); / sei();/#ifndef _pid_h_#define _pid_h_#include #include #include #include #define uchar unsigned char #define uint unsigned int int dError,Error;/*pid初始化*/ struct PID float SetPoint; / 设定目标 Desired Valuefloat Proportion; / 比例常数 Proportional Constfloat Integral; / 积分常数 Integral Constfloat Derivative; / 微分常数 Derivative Const float SumError;float LastError; / Error11float PrevError; / Error12 spid;/*PID 结构体初始化*/void PIDInit (struct PID *pp) memset(pp,0,sizeof(struct PID);/*PID 参数设置*/void setPID(struct PID *pp,float a,float b,float c)pp-Proportion=a;pp-Integral=b;pp-Derivative=c;/*PID 计算部分*/=*/unsigned char PIDCalc( struct PID *pp, unsigned char NextPoint )Error = pp-SetPoint - NextPoint; / 偏差if(fabs(Error)25) TIMSK = 0x01; /timer interrupt sources不用中断，自动清0 return 0xff; else if(fabs(Error)Proportion * Error) );/ 比例项 SIGNAL(SIG_OUTPUT_COMPARE0)/比较中断PORTD &=(1PD6)|(1PD7);PORTD &=(1PD4)|(1PD5);/后退SIGNAL(SIG_OVERFLOW0)/溢出中断 TCNT0 = 0x01; if(fabs(Error)3 )/停止 PORTD &=(1PD4)|(1PD5)|(1PD6)|(1PD7); if(Error-3)/前进 PORTD &=(1PD4)|(1PD5); PORTD |= (1PD6)|(13)/后退 PORTD &=(1PD6)|(1PD7); PORTD |= (1PD4)|(1PD5);/后退 _delay_ms(10);#endif/*/定时器TO的使用例程快速PWM模式/作者：宝山/时间：2008.06.02/编译环境：ICCV7 for AVR/晶体: 11.0592Mhz/*/*头文件*/#include #include #include #define uint unsigned int#define uchar unsigned char#define nop() asm(nop()#include pid.hvoid port_init(void)DDRB |= _BV(PB3); /PB3为PWM输出void timer0_init(void)TCCR0 = 0x00; /stopTCNT0 = 0x01;/OCR0 = 0x01; /改变此值可改变占空比/OCR0 = 0x0f; /改变此值可改变占空比TCCR0 = 0x4D; /设置为快速PWM模式，匹配时OC0置1，分频系数1024,比较发生时清0/ 频率计算公式：fOCn= fclk/(N*256)/ N=1024/ fOC0=11059200/(1024*256)=42.1875Hz/ 在PB3管脚输出占空比可调,频率为42.1875Hz的PWM信号/ 通过改变分频系数N改变频率void init_devices(void)/cli(); /disable all interruptsport_init();timer0_init();MCUCR = 0x00;GICR = 0x00;TIMSK = 0x03; /timer interrupt sources不用中断，自动清0/sei(); /re-enable interrupts/all peripherals are now initialized/*文件：ad.h*/#ifndef _ad_H_#define _ad_H_ #define uchar unsigned char #define uint unsigned int #include#includelcd.h/*ad转抑换*/ad初始化void ad_Init(void) ADMUX=0X00;/外部参考电压，0 通道 ADCSRA |=_BV(ADEN)|_BV(ADIE);/|_BV(ADPS2)|_BV(ADATE);/使能ADC,中断允许,自由模式, 时钟： ck/16/自动触发 ADCSRA |=_BV(ADSC);/自由模式开始转换 DDRA &= (_BV(PA0);#endif/*文件：chaoshenbo.h用途：超声波传感器*/#ifndef _chaoshenbo_H_#define _chaoshenbo_H_#include #define TX (1PA0)#define RX (1PA1)#define uchar unsigned char #define uint unsigned int /超声波模块初始化void chaosheninit(void) DDRA |= TX; /pB0设置为输出DDRA &= RX; /pB1设置为输入 PORTA=0X00;/写指令void StartModule() /启动模块 PORTA|=TX; TCNT1H=0X00; TCNT1L=0X00;/初值 /启动一次模块 _delay_us(15); PORTA&=TX; #endif/液晶显示程序#ifndef _lcd_h_#define _lcd_h_#define uint unsigned int#define uchar unsigned char#define RS PB0#define RW PB1#define EN PB2void LCD1602_Initial(void) DDRB=0xff;PORTB=0xff;DDRC=0xff;PORTC=0xff;LCD1602_CommandWrite(0x38);/功能设置两行显示，5*7_delay_ms(1);LCD1602_CommandWrite(0x01);/清屏，回到时80_delay_ms(1);LCD1602_CommandWrite(0x06);_delay_ms(1);LCD1602_CommandWrite(0x0c);/关光标闪烁_delay_ms(1);/*1602写命令字子函数*/void LCD1602_CommandWrite(uchar com)LCD1602_BusyCheck();PORTB&=(1RS); /RS引脚置为低电平，写命令字节PORTC=com; /将数据送到8位并行数据口PORTB|=(1EN); /EN引脚电平上升将命令字写入1602内部_delay_ms(1); /延时5ms，保持EN电平PORTB&=(1EN); /时钟脉冲复位，准备下一次写操作/*1602写数据子函数*/void LCD1602_ByteWrite(uchar date)LCD1602_BusyCheck();PORTB|=(1RS); /RS引脚高电平，准备写数据字节PORTC=date; /将数据送到8位并行数据口PORTB|=(1EN); /EN引脚上升将数据字节写入1602_delay_ms(1); /延时5ms，保持EN电平PORTB&=(1EN); /时钟脉冲复位，准备下一次写操作/*在某位置显示某字符，参数adr为待写地址，date为待写字节*/void LCD1602_Display(uchar adr,uchar date)LCD1602_BusyCheck();LCD1602_CommandWrite(adr);LCD1602_BusyCheck();LCD1602_ByteWrite(date); void LCD1602_Busy