避障机器人设计与调试讲解

1、避障机器人设计与调试、实训目的1 了解机器人大赛中避障的规则，进一步理解电机和红外测距传感器的原理；2 掌握避障机器人的设计方法。二、实训设备1 硬件： HOST 机一台、基于机器人项目驱动的嵌入式教学实训平台一套；2 软件： WIN2000 或 xp 操作系统、Siliconlab IDE 开发环境、调试器。三、实训原理实现避障的功能从原理上是通过分析红外测距传感器的测量值判断障碍物的位置，120然后驱动电机避开障碍物。通过连接三个红外测距传感器，机器人可以探测到度的视角范围的障碍物。矶耦人IT动四、实训步骤1、正确连接PC机、调试器和基于机器人项目驱动的嵌入式教学实训平台；2、打开电源,打

2、开Siliconlab IDE ;3、打开避障的例程，正确调试并运行该程序。4、烧录完成后断电拔掉调试器，把组装好的机器人放入模拟的参赛场地，再次打开电 源，观察机器人避障的情况。void main()unsigned int ad_test;unsigned int i = 0;SystemInit();while(1)DodgeObstruction();void DodgeObstruction()unsigned char ad_distance_left = 0;unsigned char ad_distance_midl = 0;unsigned char ad_distance_

3、rigt = 0;while(1)ad_distance_left = GetIR_Distance(2);ad_distance_midl = GetIR_Distance(3);ad_distance_rigt = GetIR_Distance(4);if(ad_distance_left>40 && ad_distance_midl>40 && ad_distance_rigt>40) DC_Motor(1,0,60);DC_Motor(3,0,60);DC_Motor(2,0,60);DC_Motor(4,0,60);if(ad_dis

4、tance_rigt<40)DC_Motor(1,0,60);DC_Motor(3,0,60);DC_Motor(2,2,10);DC_Motor(4,2,10);if(ad_distance_midl<40)DC_Motor(1,2,70);DC_Motor(3,2,70);DC_Motor(2,2,70);DC_Motor(4,2,70);if(ad_distance_left<40)DC_Motor(1,2,10);DC_Motor(3,2,10);DC_Motor(2,0,60);DC_Motor(4,0,60);voidDC_Motor(unsigned char

5、motor_num,unsigned char direction, unsigned char motor_speed) unsigned char SFRPAGE_save = SFRPAGE;SFRPAGE = CONFIG_PAGE; if(!motor_speed)switch(motor_num)case 1:PCA0CPH0 = 255; break;case 2:PCA0CPH1 = 255;break;case 3:PCA0CPH2 = 255; break;case 4:PCA0CPH3 = 255; break;case 5:PCA0CPH4 = 255;break;ca

6、se 6:PCA0CPH5 = 255;break; default: break;elseswitch(motor_num) case 1:PCA0CPH0 = 255 - (motor_speed+116); break;case 2:PCA0CPH1 = 255 - (motor_speed+116); break;case 3:PCA0CPH2 = 255 - (motor_speed+116); break;case 4:PCA0CPH3 = 255 - (motor_speed+116);Break;case 5:PCA0CPH4 = 255 - (motor_speed+116)

7、; break;case 6:PCA0CPH5 = 255 - (motor_speed+116);break;default: break;switch(direction)case 0:if(motor_num=1) P3 &=0x20; /P1.3 = 0,即DIR0置0if(motor_num=2) P1 &=0x10; /P1.4 = 0,即DIR1置0if(motor_num=3) P1 &=0x20; /P1.5 = 0,即DIR2置0if(motor_num=4) P1 &=0x40; /P1.6 = 0,即DIR3置0if(motor_num=

8、5) P3 &=0x40; /P3.6 = 0,即DIR4置0break;case 1:if(motor_num=1) PCA0CPH0 = 255;if(motor_num=2) PCA0CPH1 = 255;if(motor_num=3) PCA0CPH2 = 255;if(motor_num=4) PCA0CPH3 = 255;if(motor_num=5) PCA0CPH4 = 255;if(motor_num=6) PCA0CPH5 = 255;break;case 2:if(motor_num=1) P3 |=if(motor_num=2) P1 |=0x20;0x10;/P3.5 =/P1.4 =1,即1,即DIR0 置1；DIR1置 1；if(motor_num=3) P1 |=0x20;/P1.5 =1,即DIR2置 1；if