PWM调速循迹智能小车程序精编

1、PWM调速循迹智能小车程序精编32m/*控速模块*/#defineP03 P0_3 )；DisplayString(0x0, 1, DesignedBy202); Delay (300);WriteCmd(LCD_CLS);EA二 1; )；Delay (50);WriteCmd(LCD_CLS);IsSelectingMode二True;wh订e (1)WriteCmd(LCD_CLS);DisplayString(0x0, 0, LineMode “)；DisplayString(0x0, 1, "Next Yes)；Delay (300):“)；DisplayString(0x

2、0, 1, Designedby202)； if(SelectedMode=Line&&AutoMode=0) flag=AreaO;elseflag=l;while (flag<5)if(AutoMode二二1);DisplaySingleChar(0x07, 1, PassTime2);DisplaySingleChar(0x08, 1, PassTime3);elseDisplaySingleChar(0x04, 1, PassTimel);DisplaySingleChar(0x05, 1, PassTime2);DisplaySingleChar (0x06,1

3、,')；DisplaySingleChar(0x07, 1, PassTime3);DisplaySingleChar(0x08, 1, PassTime4);/*显示平均速度*/voidDisplayAVGSpeed(void)intSpeedl二0x30;DisplaySingleChar(0x07, 1, Speed2);DisplaySingleChar(0x08, 1, Speed3);*/ voidDisplayDistance(void)intDistance1=0x30;intDistance2=0x30;intDistance3二0x30;intDistance4=0

4、x30;if (int) (DistancelOO)<100)Distancel+二0;Distance2+=(int) (Distance*100)/10;Distance3+=(int) (Distance*100)%10;elseif (int) (DistancelOO)>100&&(int)(DistancelOO)<1000)Distancel+=(int) (Distance*100)/100;Distance2+=(int) (Distance*100)/10%10;Distance3+=(int) (Distance*100)%10;else

5、 Distancel+=(int)(Distance*100)/1000; Distance2+=(int)(Distance*100)/100%10: Distance3+=(int)(Distance*100)/10%10;Distance4+=(int) (Distance*100)%10;if (int) (DistancelOO)<1000)DisplaySingleChar(0x05, 1, Distancel);DisplaySingleChar (0x06,1,')；DisplaySingleChar(0x07, 1, Distance2);DisplaySing

6、leChar(0x08, 1, Distance3);elseDisplaySingleChar(0x04, 1, Distancel);DisplaySingleChar(0x05, 1, Distance2);DisplaySingleChar(0x06, 1,')；DisplaySingleChar(0x07, 1, Distance3);DisplaySingleChar(0x08, 1, Distance4);*/ voidINTInit(void)EA=1; 开总中断ITO=1; /INTO边沿触发PXO=1; /INTO优先级为高级EX1=1; 开 INTI 中断IT1二

7、1; /INT1边沿触发PX1=1; /INTI优先级为高级ClockO_Init(); /初始化时钟中断TM0D=0xll; /T0/T1 定时方式 1ETO二0x01; /开 T0 中断ETl=0x01; 开 T1 中断voidClockO_Init(void)TR0=0x01; 启动 TOTHO二ThxO; /定时初值TLO=TlxO;voidClockl_Init(void)TR1 二0x01; 启动 T1THl=0x3C; 定时初值-50ms中断一次TLl=0x0B0;/<y<y<y彳、彳*.、r、r、r、r、r、叫、r、r、叫、叫、r、"卜 叫叫、&qu

8、ot;卜 叫、"卜 叫、"卜 叫、叫、叫、"卜 叮、叫叫、*中断处理程序*>£ >r >V# >!# %T >!# >!# %T >!# %T >!# %T >!# %T >!# %T >!xl#T #T%#T> #T #T #T #T #T #T #T #T #T #T #T #T #T #T #77£x %ix £xixki>、*.、x.xx.> XaX xTx x<x"卜 “卜"、"卜卜"卜"

9、;、"卜"、"卜卜"卜.卜卜、"卜/#7x #Tx #Tx <TS#7/*外部中断0* 外部中断0有两个功能(1) 作为菜单选择的Next键(2) 作为测速的计数器*/voidSpeedINT (void) interruptO /中断 INTOif (SelectedAll=False) /如果模式和速度还没有选择完 毕，则此中断作为Next 键Next=True;if(Running=True) /如果模式和速度已经选择完毕，则 此中断作为测速中断SpeedCount+;if (ChoosingDisp 1 ay=True) /如果是

10、在选择要显示的内容Next=True;/*外部中断外部中断1有两个功能(1) 作为菜单选择的确定键/返回键(2) 控速*/voidCtrSpeedINT (void) interrupt2 /中断 INTI if (SelectedAll=False) /如果模式和速度还没有选择完 毕，则此中断作为确定键if(IsSelectingMode=True) /模式选择标志ModeSelected二True;if(IsSelectingSpeed=True) /速度选择标志SpeedSelected二True;if (Running=True) /如果模式和速度选择已经完毕，则 此中断作为控速中断i

11、f(AreaO-O) 经过第一条铁线(即起跑线)，开始计 时，开始测速EXO=1;Clockl_Init ();P31二0; 过起跑线，背光灭if (Area0=l)LowSpeedArealStartTime=PassTime; /读取进入第一个低 速区的时刻if(AreaO=2)LowSpeedArealEndT ime=PassT ime: /读取离开第一个低速 区的时刻，也就是进入高速区的时刻if(AreaO=3)HighSpeedAreaEndT ime=PassTime: / / 读取离开高速区的时 刻，也就是进入第二个低速区的时刻if(AreaO=4)LowSpeedArea2E

12、ndTime=PassTime: /读取离开第二个低速去的时刻if (AutoMode=l) /自动模式PassLine+;switch(PassLine)case5 :PassLineID=l:break;caselO:PassLineID=2;break;default:PassLineID=PassLineID;break;else if (SelectedMode二二Line) /直线模式 ThxO=ThxAreaO+;TlxO=TlxAreal+;if (Area0=5)EXI二0;else /S型模式Nocurve+;Round+;if (Roundid=二1&&R

13、ound=2)Round+;Roundid=0;Back=0;Back0=0;EXI二0;IE1=O;if(AutoDisplay=True)GoToChoosingDisplay=True;if (ChoosingDisp1ay=True)SelectedShow二True;SelectedReturn二True;Selected二True;/*TO中断*TO中断用来输出方波以控制速度*/ voidTimeOINT (void) interruptl /TO 中断 if(AutoMode=l)IsTOINT*二1;switch(PassLine) case2 :PrepareDistance

14、=Distance;break;case3 :FirstDistance二Distance-PrepareDistance;break;case4 :SecondDistance二Distance-PrepareDistance-FirstDistance;break;case5 :ThirdDistance=Distance-PrepareDistance-FirstDistance-SecondDistance;break;defauIt:break;switch(PassLinelD)caseO :if(IsTOINT二二1)TR0=0x01;TH0=0xec;TL0=0x78; /5m

15、selseTR0=0x01;TH0=0xb1;TL0=0xe0; /20msbreak;easel :if (PassLine=5)FirstHigh=(int) (65536-20*FirstDistance/ (15*Count*Rate-FirstDistance)*1000);SecondHigh=(int)(65536-20*SecondDistance/ (15*Rate-SecondDistance)*1000);ThirdHigh=(int)(65536-20*FirstDistance/(15*Count*Rate-FirstDistance)*1000);TRO二0x01;

16、TH0=0xf4;TL0=0x48;break;case2 :AutoMode二0;SelectedMode二Line;Area0=Areal=0;PassTime=0;Distance=0;TR0=0x01;TH0=0xf4;TL0=0x48;Thx0=Thx1 = (FirstHigh &OxfO)>>8);Tlx0=Tlxl=(FirstHigh&0x0f);Thx2 =Thx2 = (SecondHigh&Oxf0)»8) :Tlx2=Tlx2 = (SecondHigh&OxOf);Thx3=Thx3 = (ThirdHigh &

17、amp;0xf0)»8) ; Tlx 3 =Tlx 3 = (ThirdHigh&OxOf);Thx4=Thx4=0xff;Tlx4=Tlx4=0xff;break;defauIt:break;elseif (SelectedMode二二Line)IsTOINT*二-1;if (Area0<5)if(IsTOINT=l)ClockO_Init ();elseTRO二0x01; 启动 TOTHO二Thxl; /定时初值TL0=Tlxl;elseIsT0INT=-l;elseIsT0INT2*=-l;if(IsT0INT2=l)TRO=OxO1;TH0=0xd8;TLO=OxfO; /10ms elseTR0=0x01;TH0=0xb1;TL0=0xe0; /20msBack+;if (Back二90)Back0=70;if(Nocurve<2)&&(Back0>0)&&Back!=0)if(