智能小车电控基础部分

1、C7104Vin1GND2Vout3U378L055V5VR81KR91KR101KR111KIN1IN2IN3R41KR51KR61KR71KVDDEAP04P1.01P1.12P1.23P1.34P1.45P1.56P1.67P1.78RST9P3.0/RXD10P3.1/TXD11P3.2/INT012P3.3/INT113P3.4/T014P3.5/T115P3.6/WR16P3.7/RD17X218X119GND20P2.021P2.122P2.223P2.324P2.425P2.526P2.627P2.728PSEN29ALE30EA31P0.732P0.633P0.534P0.4

2、35P0.336P0.237P0.138P0.039VCC40U0STC89C52-DIP40123456789JP2PAIZU12345678JP3VDDR11K+C310UR21KS1SW-PBY111.0592MC130PC230PVDDP00P01P02P03P04P05P06P07P00P01P02P03P04P05P06P07123456JP4DGND123456JP5VDDVDDR31KVDD12JP10R181KVCC123456JP11MOTORD7IN4007D8IN4007D5IN4007D6IN4007D3IN4007D4IN4007D1IN4007D2IN4007VC

3、CVCCOUT4OUT3OUT2OUT1IN4EBIN3IN2EAIN1OUT2OUT1VCC5VC4104C5104OUT4OUT3IN4R131KVDDR121K5VR151KR161KEB123456789101112131415U2L298D9LEDD10LEDP00P01P02P03VCC1IN12VCC3IN24VCC5IN36VCC7IN48GND9OUT410GND11OUT312GND13OUT214GND15OUT116JP7TLP521-412JP6123JP9VCC1IN12VCC3IN24VCC5IN36VCC7IN48GND9OUT410GND11OUT312GND

4、13OUT214GND15OUT116JP8TLP521-4R141KR171KP06P05duojiduoji12345678JP1212JP1412JP13R191KR201K1234JP18SGND1234JP199V9V1234JP2012V12VD11IN4007D12 IN4007C6104+C8220u+C9220uabcdefgCOM1COM2COM3COM4dp2E1L11GND10VCC20D02D13D24D35D46D57D68D79Q712Q613Q514Q415Q316Q217Q118Q019U474HC573E1L11GND10VCC20D02D13D24D35D

5、46D57D68D79Q712Q613Q514Q415Q316Q217Q118Q019U174HC573A1A2DB1DB3DB4DB5DB7DB6DB8DB2DB1DB2DB3DB4DB5DB6DB7DB8B1B2B3B4B5B6B7B8C1C2C3C4VDDVDDDB7DB6A2A1B1B2B3B4B5B6B7B8VCCC1C2C3C4DB5DB4DB3DB2DB1电路原理图程序流程图 首先是主函数的确立，主函数从子函数init0_time和子函数drive子函数，子函数motor_run 中调子运行 控制字函数motor_run和子函数time0_pwm 。然后根据定时器溢出中断程序，判

6、断是否中断，否则继续执行子函数time0_pwm ，是则进行drive部分，drive部分调子进行判断，是则继续进行子函数drive 否则程序结束。/*主函数*/void main()init_time0();/调用初始化函数 drive(1,0,0);delay_flag=1000;/较精确延时100MS,以定时器0中定义的100US为单位while(delay_flag);while(1)drive(1,0,0);delay_flag=50000;/直走5Swhile(delay_flag); motor_run(1,0,0);/车停while(1);/保持void time0_pwm()

7、 interrupt 1/定时器0中断服务程序/*舵机部分*/tt+;if(tt=duoji_pwm)/duoji_pwm=626，大约0.5ms2.5msduoji=0;/舵机控制线置低电平else if(tt=200)/大约20ms。tt=0;duoji=1;/舵机控制线置高电平/*直流电机PWM调速部分*/pwm+;if(pwm=10)/设置PWM调速周期为1ms。pwm=0;P0|=0X30;/P0口进行或运算。if(pwm=PWM_L)/PWM_L=010;motor_l_en=0;if(pwm=PWM_R)/PWM_R=010;motor_r_en=0;/*较精确延时部分*/if(

8、delay_flag)delay_flag-;void init_time0()/定时器0初始化函数TMOD=0X02;/采用定时器模式2，8位精确定时TH0=164;/定时器赋初值;100US中断一次，这里的晶振是11.0592M；若晶振为12M，则选用156；TL0=164;EA=1;/开总中断ET0=1;/开定时器中断TR0=1;/定时器0开始运行duoji_pwm=11;/舵机初始位置（保证小车前轮摆正）void motor_run(uchar direct,uchar speed_l,uchar speed_r)/直流电机控制函数，direct代表方向；speed分别控制两个电机速度if(direct)/direct=1代表向前P0=(P0&0 x30)|0 x05;/(P0&0 x30)的作用是停止电机，目的是为了避免切换时产生不规则脉冲。else/direct=0代表向后P0=(P0&0 x30)|0 x0A;PWM_L=speed_l;PWM_R=speed_r;void drive(uchar direct,uchar angle,uchar side)/小车状态控制函数。direct代表方向，angle代表转弯角度，side代表转弯方向if(angle6)/起保护作用（相对机械结构而言），angle的范围