超声波避障小车程序设计

1、精选优质文档-倾情为你奉上/*/ /5路超声波避障实验：51单片机 +  HC-SR04超声波 / /*/            #include <AT89x52.H>  /器件配置文件   #include <intrins.h>    #define  RX1

2、  P3_6     /小车左侧超声波HC-SR04接收端   #define  TX1  P1_7     /发送端       #define  RX2  P3_3     /左前方超声波   #define

3、0; TX2  P0_2         #define  RX3  P2_4     /正前方超声波   #define  TX3  P2_5    #define  RX4  P3_5    &#

4、160;/右前方超声波   #define  TX4  P3_4                #define  RX5  P3_7     /右侧超声波   #define  TX5  P1_6 &

5、#160; #define Left_moto_pwm   P1_5  /PWM信号端  #define Right_moto_pwm   P1_4   /PWM信号端    /定义小车驱动模块输入IO口   sbit IN1=P10;  sbit IN2=P11;  sbit IN3=P12;&#

6、160; sbit IN4=P13;  sbit EN1=P14;  sbit EN2=P15;     bit Right_moto_stop=1;  bit Left_moto_stop =1;   #define Left_moto_go      IN1=0,IN2=1,EN1=1;  /左

7、电机向前走  #define Left_moto_back    IN1=1,IN2=0,EN1=1;  /左边电机向后走  #define Left_moto_Stop    EN1=0;  /左边电机停转               #define Rig

8、ht_moto_go     IN3=1,IN4=0,EN2=1; /右边电机向前走  #define Right_moto_back   IN3=0,IN4=1,EN2=1; /右边电机向后走 #define Right_moto_Stop   EN2=0; /右边电机停转     unsigned char pwm_val_left&

9、#160; =0;/变量定义 unsigned char push_val_left =0;/ 左电机占空比N/20  unsigned char pwm_val_right =0;  unsigned char push_val_right=0;/ 右电机占空比N/20       unsigned int  time=0; 

10、    unsigned int  timer=0;       unsigned long S1=0;     unsigned long S2=0;     unsigned long S3=0;     unsigned long&#

11、160;S4=0;     unsigned long S5=0;      void delay_1ms(unsigned char x)          /1ms延时函数,100ms以内可用    unsigned char i;  while(x-)&

12、#160; for(i=124;i>0;i-);      /*/    void Count1()   /计算左侧超声波距离的函数     while(!RX1);  /当RX1为零时等待   TR0=1;       /开启计数   whi

13、le(RX1);  /当RX1为1计数并等待   TR0=0;    /关闭计数   time=TH0*256+TL0;   TH0=0;   TL0=0;         S1=(time*1.7)/100;     /算出来是CM    

14、;  void Count2()   /计算函数     while(!RX2);  /当RX2为零时等待 TR0=1;       /开启计数   while(RX2);  /当RX2为1计数并等待   TR0=0;    /关闭计数   

15、;time=TH0*256+TL0;   TH0=0;   TL0=0;              S2=(time*1.7)/100;     /算出来是CM          void Count3()   

16、;/计算函数       while(!RX3);  /当RX3为零时等待    TR0=1;       /开启计数    while(RX3);  /当RX3为1计数并等待    TR0=0;    /关闭计数    

17、;time=TH0*256+TL0;    TH0=0;    TL0=0;           S3=(time*1.7)/100;     /算出来是CM         void Count4()   /计算函数 

18、      while(!RX4);  /当RX4为零时等待  TR0=1;       /开启计数    while(RX4);  /当RX4为1计数并等待    TR0=0;    /关闭计数   time=TH0*256+TL0;  

19、  TH0=0;    TL0=0;               S4=(time*1.7)/100;     /算出来是CM         void Count5()   /计算函数  

20、   while(!RX5);  /当RX5为零时等待  TR0=1;       /开启计数   while(RX5);  /当RX5为1计数并等待  TR0=0;    /关闭计数   time=TH0*256+TL0;   TH0=0;   TL0=0;

21、           S5=(time*1.7)/100;     /算出来是CM  void leftrun(void)       push_val_left=20;       push_val_right=20;    L

22、eft_moto_back  /左电机往后走  Right_moto_go  /右电机往前走   /*/  /右转  void rightrun(void)       push_val_left=20;       push_val_right=20;  Left_moto_go 

23、60;/左电机往前走  Right_moto_back  /右电机往后走   /*/  /停止  void stoprun(void)    Left_moto_Stop  /左电机停  Right_moto_Stop  /右电机停       /*/ /*   

24、60;                PWM调制电机转速                                

25、   */ /*/  /*                    左电机调速                      

26、                  */ /*调节push_val_left的值改变电机转速,占空比            */    void pwm_out_left_moto(void)    

27、      if(Left_moto_stop)                    if(pwm_val_left<=push_val_left)                 

28、     Left_moto_pwm=1;                   else                      

29、0;  Left_moto_pwm=0;               if(pwm_val_left>=20)         pwm_val_left=0;            else  

30、                             Left_moto_pwm=0;                /*/ /*

31、60;              右电机调速                                  */&#

32、160;      void pwm_out_right_moto(void)       if(Right_moto_stop)            if(pwm_val_right<=push_val_right)         

33、60;         Right_moto_pwm=1;         else                 Right_moto_pwm=0;        &

34、#160;   if(pwm_val_right>=20)          pwm_val_right=0;          else                   

35、;          Right_moto_pwm=0;                      /*/      void timer0() interrupt 1  

36、;  /T0中断             /*/   /*TIMER1中断服务子函数产生PWM信号*/    void timer1()interrupt 3     TH1=(65536-1000)/256;  /1ms定时  TL1=(65536-1000)%256

37、;   timer+;   pwm_val_left+;   pwm_val_right+;   pwm_out_left_moto();   pwm_out_right_moto();         /*  */   void  main(void)   

38、        TMOD=0x11;     /设T0为方式1，GATE=1； TH0=0;  TL0=0;            TH1=(65536-1000)/256;  /1ms定时  TL1=(65536-1000)%256;  ET0=1;

39、0;            /允许T0中断  ET1=1;      /允许T1中断  TR1=1;      /开启定时器  EA=1;      /开启总中断   while(1)  &

40、#160;          TX1=1;     /开启超声波1探测   delay_1ms(1);   TX1=0;      Count1();   /测距        TX2=1;  

41、60;delay_1ms(1);   TX2=0;      Count2();           TX3=1;   delay_1ms(1);   TX3=0;       Count3();         TX4=1;   delay_1ms(1);   TX4=0;      Count4();              TX5=1;   delay_1ms(1);