循迹避障小车程序

1、/*循迹避障小车程序*/*dragon*/#include#define uchar unsigned char#define uint unsigned intuchar count0 = 0;/低电平的占空比uchar count1 = 0;/高电平的占空比uchar count = 0; /0.1ms 次数标识uchar jd,time; /角度标识uchar yz = 0; /遇障标志uint distance,t;sbit Trig=P30; /控制端 超声波sbit Echo=P32; /接收端sbit pwm = P11; /舵机控制信号sbit rclf = P36; /循迹红

2、外sbit rcrt = P37;sbit jz = P35;sbit PWM1=P14;/PWM 通道 1，反转脉冲sbit PWM2=P13;/PWM 通道 2，正转脉冲sbit PWM3=P16;/PWM 通道 3，反转脉冲sbit PWM4=P15;/PWM 通道 4，正转脉冲/*延时1ms*/void delay(uint x) uchar i,j; for(i=0;ix;i+) for(j=0;j110;j+); /*电机运行*/void Motor_run(void) PWM1 = 1; if(+count1 = 100) count1 = 0; /*红外探测部分*/ void

3、ir_ch(void) if(jz = 1) jd = 14; count0 = 80 ; if(rclf = 1 & rcrt = 0 & jd = 14) | (rclf = 1 & jz = 1) ) count0 = 70 ; jd = 13; if(rcrt = 1 & rclf = 0 & jd = 13) | (rcrt = 1 & jz = 1) ) count0 = 90 ; jd = 15; if(rcrt = 1 & rclf = 0 & jd = 14) | (rcrt = 1 & jz = 1) ) count0 = 90 ; jd = 15; if(rclf = 1

4、 & rcrt = 0 & jd = 15) | (rclf = 1 & jz = 1) ) count0 = 90 ;jd= 13; /* 超声波*/*延时1us*/void delay_us(uchar m )while(m-); void ceju(void) Trig=1; /发射置高 delay_us(15); /延时10usTrig=0; /发射置低/while(Echo=0); /等待接收端准备接收TR0=1; /启动定时器0/while(Echo=1);/等待接收端接收 delay(3); / 等待处理数据 void panduan(void) uint n; if(dista

5、nce245) yz = 1; for(n=0;n7000;n+) jd = 13; Motor_run(); else if(yz = 1) jd = 15; yz = 0; else ir_ch(); /*定时器1舵机*/void timer0init(void) / 1初始化 TMOD = 0X19; /定时器1工作1 定时器1工作1 TH1 = 0Xff; /高第八位清零TL1 = 0Xa0;TH0=0;TL0=0; EA = 1; /打开全局中断允许位（中断允许寄存器IE）TR1 = 1; /寄存器TCON,置一启动定时器0ET1 = 1; /允许定时器1中断ET0 = 1; /允许定时器1中断IT0=1;/下降沿触发 EX0=1;/外部中断0允许中断 /*主函数*/void main(void) timer0init(); /定时器1初始化Trig=0;jd = 14;count = 0; delay(10); while(1) ceju(); panduan(); Motor_run(); /*外部中断超声波*/void int0() interrupt 0 TR0=0; /关定时器 t=TH0*256+TL0;distance=t*0.173;/取346m/sTH0=0; TL0=0; void Time_Int() interrup