智能循迹避障小车完整程序(亲测好使)

/*******************************************

//利用51定时器产生PWM波来调节电机速度

//速度变化范围从0-100可调

//使用三路做寻迹使用,哪一路检测在黑线哪一路为

//高电平

//没检测到黑线表示有反射 对应输出低电平信号

*********************************************/

#include

#define uint unsigned int

#define uchar unsigned char

/*电机四个接口定义*/

sbit in1=P0^0;

sbit in2=P0^1;

sbit in3=P0^2;

sbit in4=P0^3;

/*计时器*/

uchar j,k,i,a,A1,A2,second,minge,minshi;

sbit dula=P2^6;

sbit wela=P2^7;

uchar code table[]={0x3f,0x06,0x5b,0x4f,

0x66,0x6d,0x7d,0x07,

0x7f,0x6f,0x77,0x7c,

0x39,0x5e,0x79,0x71};

uchar code table2[]={0xbf,0x86,0xdb,0xcf,

0xe6,0xed,0xfd,0x87,

0xff,0xef,0xf7,0xfc,

0xb9,0xde,0xf9,0xf1};

void delay(uchar i)

{

for(j=i;j>0;j--)

for(k=110;k>0;k--);

}

void display(uchar sh_c,uchar g_c,uchar min_ge,uchar min_shi)

{

dula=1;

P0=table[sh_c];

dula=0;

P0=0xff;

wela=1;

P0=0xfb;

wela=0;

delay(5);

dula=1;

P0=table[g_c];

dula=0;

P0=0xff;

wela=1;

P0=0xf7;

wela=0;

delay(5);

dula=1;

P0=table[min_shi];

dula=0;

P0=0xff;

wela=1;

P0=0xfe;

wela=0;

delay(5);

dula=1;

P0=table2[min_ge];

dula=0;

P0=0xff;

wela=1;

P0=0xfd;

wela=0;

delay(5);

}

/*左、中、右三路循迹传感器接口定义*/

sbit zuo=P1^0;

sbit zhong=P1^1;

sbit you=P1^2;

/*避障接口定义*/

sbit bz_zuo=P1^3;

sbit bz_zhong=P1^4;

sbit bz_you=P1^5;

uchar count = 0;

/*利用定时器0定时中断,产生PWM波*/

void Init_timer()

{

TH0 = (65535-10)/256;

TL0 = (65535-10)%256;

TMOD = 0x01;

TR0 = 1;

ET0 = 1;

EA = 1;

}

/*左轮速度调节程序*/

void zuolun(uchar speed)

{

if(count <= speed) //count计数变量

{

in1 = 1;

in2 = 0;

}

else

{

in1 = 0;

in2 = 1;

}

}

void youlun(uchar speed) {

if(count<= speed)

{

//同上

in3 = 1;

in4 = 0;

}

else

{

in3 = 0;

in4 = 1;

}

}

void Inline() {

uchar temp;

temp =P1;

//检测黑线信号

switch(temp)

{

case 0x01:zuolun(0); youlun(90);break; 正

//左侧循迹传感器压线,小车向左前修

case 0x02:zuolun(100);youlun(100);break; //中间循迹传感器压线,保持直走 此处两值使电机速度保持相同

case 0x04:zuolun(90); youlun(0);break; 正

//右侧循迹传感器压线,小车向右前修

case 0x08:zuolun(90); youlun(0);break; //左侧避障传感器有信号小车右转

case 0x10:zuolun(90); youlun(0);break; //中间避障传感器有信号小车左转

case 0x20:zuolun(90); youlun(0);break; //右侧避障传感器有信号小车左转

}

/*

if(zuo==1)

{

zuolun(10);

youlun(50);

}

else if(zhong==1)

{

zuolun(99);

youlun(99);

}

else if(you==1)

{

zuolun(50);

youlun(10);

} */

}

void main() //主函数

{

Init_timer(); //调用函数

while(1)

{

Inline();

minge=0;

minshi=0;

second++;

if(second==60)

second=0,minge++;

A1=second/10;

A2=second%10;

if(minge==10)

minge=0,minshi++;

for(a=200;a>0;a--)

{

display(A1,A2,minge,minshi);

};

}

}

void Timer0_int()interrupt 1 //定时器中断计数

{

TH0 = (65535-10)/256;

TL0 = (65535-10)%256;

count ++;

if(count >= 100)

{

count = 0;

}

}