基于51单片机的三路电磁传感器自动循迹小车

#include "STC12C5A60S2.H" #include "intrins.h" #include "uart.h" #include "AD.h" #define uchar unsigned char #define uint unsigned int #define Motor_Speed1 350 //电机速度模式 #define Motor_Speed2 350 #define Motor_Speed3 450 #define Motor_Speed4 499 sbit PWM_z_q = P2^0; //电机控制线接口 sbit PWM_z_h = P2^1; sbit PWM_y_q = P2^3; sbit PWM_y_h = P2^2; sbit Servo = P1^0; //舵机接口 sbit Stop_Car = P1^7; bit Second_Flag = 0; bit Direct_Flag = 0; bit Stop_Delay = 0; bit Stop_Car_Flag = 0; bit Time_Flag = 0; bit Tlag = 0; bit Lag = 1; int middle = 150; //舵机中值116 int Servo_Pwm = 0; //舵机占空比 uint Servo_Cycle = 2000; //舵机周期（20mS） uint flag = 0; uint countt = 0; uchar dianji_run = 2; //停止状态 uint dianji_duty = 0; //电机速度控制 （0-500） uint dianji_cycle = 500; //电机周期 void Tracking(void); void Servo_Control(int difference); void Timer0Init(void); void Timer1Init(void); //100微秒@11.0592MHz extern uint adshow[4] = {0}; //待发送的数 void Runing(void) { if((countt == 0) && (Stop_Car == 0)) //确保第一次进入检测 { flag++; countt = 1; } if(countt != 0) { countt++; if(countt > 500) { countt = 0; //保证能第二次进入 } } if(flag == 2) { dianji_run = 2; } else { Tracking(); } } void main(void) { Timer0Init(); //定时器初始化 InitADC(); //ADC初始化 while(1) { adshow[0] = GetADCResult(0); //采集P1^0处的AD值 adshow[1] = GetADCResult(1); adshow[2] = GetADCResult(2); adshow[3] = GetADCResult(3); Runing(); } } void Tracking(void) { if(adshow[1] <= 10 && adshow[2] >=100 && adshow[3] <= 10) //直走 { dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(0); } if(adshow[1] >= 10 && adshow[3] <= 10) //左转 { if(adshow[1] > 10 && adshow[1] <= 20 ) { dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(-1); } else if(adshow[1] > 20 && adshow[1] <= 30 ) { Direct_Flag = 1; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(-2); } else if(adshow[1] > 30 && adshow[1] <= 40 ) { Direct_Flag = 1; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(-3); } else if(adshow[1] > 40 && adshow[1] <= 80) { Direct_Flag = 1; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(-5); } else if(adshow[1] > 80 && adshow[1] <= 85 ) { Direct_Flag = 1; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(-7); } else if(adshow[1] > 85 && adshow[1] <= 100) { Direct_Flag = 1; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(-9); } else if(adshow[1] > 100 && adshow[1] <= 110) { Direct_Flag = 1; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(-11); } if(adshow[1] > 110 && adshow[2] <= 15) { Direct_Flag = 1; dianji_run = 1; dianji_duty = Motor_Speed3; Servo_Control(-20); } } if(adshow[1] <= 10 && adshow[3] >= 10) //右转 { if( adshow[3] > 10 && adshow[3] <= 20) { dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(1); } else if( adshow[3] > 20 && adshow[3] <= 30) { Direct_Flag = 0; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(2); } else if( adshow[3] > 30 && adshow[3] <= 40) { Direct_Flag = 0; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(4); } else if( adshow[3] > 40 && adshow[3] <= 80) { Direct_Flag = 0; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(5); } else if( adshow[3] > 80 && adshow[3] <= 85) { Direct_Flag = 0; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(6); } else if( adshow[3] > 85 && adshow[3] <= 100) { Direct_Flag = 0; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(7); } else if( adshow[3] > 100 && adshow[3] <= 110) { Direct_Flag = 0; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(9); } else if( adshow[3] >= 110 && adshow[2] <= 15) { Direct_Flag = 0; dianji_run = 1; dianji_duty = Motor_Speed4; Servo_Control(14); } } if (adshow[1] < 8 && adshow[2] < 8 && adshow[3] < 8) //圆环处理 { if(Direct_Flag) { dianji_run = 1; dianji_duty = Motor_Speed2; Servo_Control(-23); } else { dianji_run = 1; dianji_duty = Motor_Speed2; Servo_Control(21); } } } void Servo_Control(int difference) //舵机控制 { if(difference != 0) { Servo_Pwm = middle + difference; } else { Servo_Pwm = middle; } } void Timer0Init(void) //10微秒@11.0592MHz { AUXR &= 0x7F; //定时器时钟12T模式 TMOD &= 0xF0; //设置定时器模式 TMOD |= 0x01; //设置定时器模式 TL0 = 0xF7; //设置定时初值 TH0 = 0xFF; //设置定时初值 TF0 = 0; //清除TF0标志 TR0 = 1; //定时器0开始计时 ET0 = 1; //打开定时器0中断 EA = 1; //打开总中断 } void Timer0(void) interrupt 1 //定时器0中断服务函数 { static int count1 = 0; static int count2 = 0; TL0 = 0xF7; //设置定时初值 TH0 = 0xFF; //设置定时初值 count1++; count2++; /****电机****/ if (count1 <= dianji_duty) { if (dianji_run == 1) { PWM_z_q = 1; PWM_y_q = 1; PWM_z_h = 0; PWM_y_h = 0; } else if (dianji_run == 0) { PWM_z_q = 0; PWM_y_q = 0; PWM_z_h = 1; PWM_y_h = 1; } } else { PWM_z_q = 0; PWM_y_q = 0; PWM_z_h = 0; PWM_y_h = 0; } if (count1 >= dianji_cycle) /******电机周期保证******/ { count1 = 0; /*****重置计数*****/ } /****舵机****/ if (count2 <= Servo_Pwm) { Servo = 1; } else { Servo = 0; } if (count2 == Servo_Cycle) { count2 = 0; //重置计数 } }