(完整版)智能小汽车在PROTEUS下的仿真设计(避障)

智能小车在PROTEUS下的仿真设计#include<reg52.h>//头文件#defineucharunsignedchar//宏定义#defineuintunsignedint//宏定义sbitIN1=P2T;sbitIN2=P2A1;sbitIN3=P2A6;〃定义驱动sbitIN4=P2A7;sbitEN1=P2A2;sbitEN2=P2A5;sbitC0=P0A0;〃右1传感器sbitC1=P0A1;〃右2传感器sbitC2=P0A2;//左2传感器sbitC3=P0A3;〃左2传感器sbitSTOP=P2A3;//障碍物传感器sbitQQ=P2^4;〃扬声器ucharcodetable[]={0xbf,0x86,0x5b,0xcf,0xe6,0xed,0xfd,0x87,0xff,0xef};〃定义表格ucharsi,fen,miao,shi,ge;//定义时：分：秒；和十位个位。uchari,aa,bb,tt=0,ss=0;voiddelay(uintz)〃延时函数uintx,y;for(x=z;x>0;x--)for(y=50;y>0;y--);}voidinit()//对函数初始化{TMOD=0x11;TH0=(65536-20000)/256;//TH0装初值TL0=(65536-20000)%256;//TL0装初值TH1=(65536-2000)/256;//TH1装初值TL1=(65536-2000)%256;//TL1装初值EA=1;ET0=1;ET1=1;//开中断TR0=1;TR1=1;P3=0x00;P1=0x00;}voidtimer0()interrupt1//T0中断函数TH0=(65536-20000)/256;//TH0装初值TL0=(65536-20000)%256;//TL0装初值tt++,ss=1;if(tt==50){tt=0;miao++;if(miao==60){fen++;miao=0;}if(fen==24){fen=0,si++;}}}voidtimer1()interrupt3//T1中断函数{TH1=(65536-2000)/256;//TH1装初值TL1=(65536-2000)%256;//TL1装初值if(aa==i)EN1=1;}if(bb==9)//产生PWM波{EN1=0,aa=0,bb=0;}aa++,bb++;}voidkeyscan()〃键盘扫描{if(C0&&C1&&C2&&C3==1){delay(6);if(C0&&C1&&C2&&C3==1){P3=0x00;P1=0xbf;EN2=1,EN1=1,IN1=1,IN2=1;ET1=0;miao=0,fen=0,si=0;while(C0&&C1&&C2&&C3==1);}voidmain()//主函数{IN1=1,IN2=0;EN2=1;init();//调用初始化函数while(1){P0=0XFF;if(STOP==0)//有障碍物{EN2=1,EN1=1,IN1=1,IN2=1;ET1=0;QQ=0;}if(STOP==l)〃无障碍物{QQ=1;ET1=1;IN1=1,IN2=0;EN2=1;if(C0|C1|C2|C3==0)//没有脱轨{i=2;}P0=0XFF;if(C0ICllC2IC3==l)〃有脱轨{i=5;if(C0==1)//右1传感器检测到黑线{IN3=1,IN4=0;delay(5);IN3=0,IN4=0;}if(ci==l)〃右2传感器检测到黑线{IN3=1,IN4=0;delay(15);IN3=0,IN4=0;}if(C3==l)〃左1传感器检测到黑线{IN3=0,IN4=1;delay(5);IN3=0,IN4=0;}if(C2==1)〃左2传感器检测到黑线{IN3=0,IN4=1;delay(15);IN3=0,IN4=0;}}}if(ss==1){ss=0;shi=miao/10;〃分离秒的十位ge=miao%10;〃分离秒的个位P3=0xdf;Pl=table[ge];〃显示秒的个位delay(5);P3=0xef;Pl=table[shi];〃显示秒的十位delay(5);shi=fen/10;〃分离分的十位ge=fen%10;〃分离分的个位P3=0xf7;Pl=table[ge];〃显示分的个位delay(5);P3=0xfb;Pl=table[shi];〃显示分的十位delay(5);shi=si/10;〃分离时的十位ge=si%10;〃分离时的个位P3=0xfd;Pl=table[ge];〃显示时的个位delay(5);P3=0xfe;Pl=table[shi];〃显示时的十位delay(5);}keyscan();//调用键盘扫描函数}•：艮mF■獅d瘢苗或瞬/■.蒔爾XIrzovflJ./.I蹩动按决Um.■■A［控制模块…11"1Jt°n*vii-i■>2^11-1fQMitia⑺R■:H卫SB•报警模決tUM*■■Afi..■"m.■-BM.■?f>2..■■■iKF..■■3ra^SFpoiJSTF3A-TIc<raraiiWTpozimhintmcBn