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atmega16 单片机 小车 程序 及其 原理图

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0101、ATMEGA16单片机寻迹小车程序及其原理图,atmega16,单片机,小车,程序,及其,原理图

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/*R M L 1 0 1 小车正对轨迹R M L 1 1 0 小车右偏R M L 0 1 1 小车左偏*/#includesbit R=P10;/左边传感器sbit M=P11;/中间传感器sbit L=P12;/右边传感器sbit RM=P13;/右边电机sbit LM=P14;/左边电机void main()RM=1;LM=1;/左右两个电机同时启动，直线前进while(1)if(R=1)&(M=1)&(L=0)/小车右偏RM=1;LM=0;/左边的电机停止转动，右边的电机转动，这样就实现了左转if(R=0)&(M=1)&(L=1)/小车左偏RM=0;LM=1;/右边的电机停止转动，左边的电机转动，这样就实现了右转if(R=0)&(M=1)&(L=1)/小车居中RM=1;LM=1;/左右电机同时转，直线前进#include #include #define uchar unsigned char #define uint unsigned intvoid main() DDRA=0X00;DDRB=0XFF;DDRD|=0X30;TCCR1A=0x91; /8位相位修正PWM 8000000/(64*2*256)=244.14hzTCCR1B=0x03; /clk/64OCR1A=250;/初值占空比100%while(1)if(PINA=0xe7)/加速前进4、5灯OCR1A=202;/占空比100%turn();/居中if(PINA=0xcf)/速度稍减前进5、6灯OCR1A=202;/占空比90%turnL();/左转-15度if(PINA=0x9f)/速度再减前进6、7灯OCR1A=176;/占空比80%turnLL();/左转-30度if(PINA=0x3f)/速度减前进7、8灯OCR1A=176;/占空比70%turnLLL();/左转-45度if(PINA=0X7f)/速度稍减前进8灯OCR1A=176;/占空比70%turnLLL();/右转45度if(PINA=0xf3)/速度稍减前进3、4灯OCR1A=202;/占空比90%turnR();/右转15度if(PINA=0Xf9)/速度再减前进2、3灯OCR1A=176;/占空比80%turnRR();/右转30度if(PINA=0Xfc)/速度稍减前进1、2灯OCR1A=176;/占空比70%turnRRR();/右转45度if(PINA=0Xfe)/速度稍减前进1灯OCR1A=176;/占空比70%turnRRR();/右转45度/*-45度*/void turnLLL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i30;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(4);/*-30度*/void turnLL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i30;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(6);/*-15度*/void turnL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i30;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(8);/*0度居中*/void turn()/居中uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i30;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(10);/*15度*/void turnR()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i30;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(12); /*30度*/void turnRR()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i30;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(14);/*45度*/void turnRRR()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i30;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(17);/*定时0.1MS*/void delay(uint z)uint i,j;for(i=0;iz;i+)for(j=0;j90;j+);#include #include #define uchar unsigned char #define uint unsigned intvoid turnLLL(void);/左转45度void turnLL(void);/左转30度void turnL(void);/左转15度void turn(void);/居中void turnR(void);/右转15度void turnRR(void);/右转30度void turnRRR(void);/右转45度void delay(uint z);/延时0.1msvoid main() uint i;DDRA=0X00;DDRB=0XFF;DDRD|=0X30;TCCR1A=0x91; /8位相位修正PWM 8000000/(64*2*256)=244.14hzTCCR1B=0x03; /clk/64OCR1A=250;/初值占空比100%while(1)PINA=i;for(i=0;i8;i+)if(PINA=0xf7)/加速前进4灯1111,0111OCR1A=170;/占空比100%/202turn();/居中if(PINA=0xef)/加速前5灯1110,1111OCR1A=170;/占空比100%turn();/居中if(PINA=0xe7)/加速前进4、5灯1110,0111OCR1A=170;/占空比100%turn();/居中if(PINA=0xcf)/速度稍减前进5、6灯1100,1111OCR1A=170;/占空比90%/176turnL();/左转-15度if(PINA=0xdf)/速度稍减前进6灯1101,1111OCR1A=120;/占空比90%/176turnL();/左转-15度if(PINA=0x9f)/速度再减前进6、7灯1001,1111OCR1A=110;/占空比80%/150turnLL();/左转-30度 if(PINA=0xbf)/速度再减前进7灯1011,1111OCR1A=110;/占空比80%/150turnLL();/左转-30度if(PINA=0x3f)/速度减前进7、8灯0011,1111OCR1A=90;/占空比70%/150turnLLL();/左转-45度if(PINA=0X7f)/速度稍减前进8灯0111,1111OCR1A=90;/占空比70%/150turnLLL();/右转45度if(PINA=0xf3)/速度稍减前进3、4灯1111,0011OCR1A=120;/占空比90%/176turnR();/右转15度if(PINA=0xfb)/速度稍减前进3灯1111,1011OCR1A=120;/占空比90%/176turnR();/右转15度if(PINA=0Xf9)/速度再减前进2、3灯1111,1001OCR1A=110;/占空比80%150turnRR();/右转30度if(PINA=0Xfd)/速度再减前进2灯1111,1101OCR1A=110;/占空比80%/150turnRR();/右转30度if(PINA=0Xfc)/速度稍减前进1、2灯1111,1100OCR1A=90;/占空比70%/150turnRRR();/右转45度if(PINA=0Xfe)/速度稍减前进1灯1111,1110OCR1A=90;/占空比70%/150turnRRR();/右转45度/*-45度*/void turnLLL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i5;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(4);/*-30度*/void turnLL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i5;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(6);/*-15度*/void turnL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i5;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(8);/*0度居中*/void turn()/居中uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i5;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(10);/*15度*/void turnR()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i5;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(12); /*30度*/void turnRR()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i5;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(14);/*45度*/void turnRRR()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i5;i+)PORTB&=BIT(0); delay(18); PORTB|=BIT(0);delay(17);/*定时0.1MS*/void delay(uint z)uint i,j;for(i=0;iz;i+)for(j=0;j90;j+);/*8MHZ晶振*/#include#include#define uchar unsigned char #define uint unsigned intvoid delay(uint z);void main()while(1) /turnLLL();/turnLL();/turnL();turn(); /turnR();/ turnRR();turnRR(); /*-45度*/void turnLLL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i200;i+)PORTB&=BIT(0); delay(10); PORTB|=BIT(0);delay(1);/*-30度*/void turnLL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i200;i+)PORTB&=BIT(0); delay(10); PORTB|=BIT(0);delay(2);/*-15度*/void turnL()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i200;i+)PORTB&=BIT(0); delay(10); PORTB|=BIT(0);delay(3);/*0度居中*/void turn()/居中uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i200;i+)PORTB&=BIT(0); delay(20); PORTB|=BIT(0);delay(4);/*15度*/void turnR()uchar i;DDRB=0XFF;PORTB=0XFF;for(i=0;i200;i+)PORTB&=BIT(0); delay(20); PORTB|=BIT(0);delay(5); /*30度*/void turnRR()uchar i;DDRB=