基于C52智能寻迹小车.zip

/* 寻迹小车，由L298N驱动来控制车轮的转速和转动方向 由红外探测来控制L298N,四个红外探测，左边感应不到信号，就往左偏，右边感应不到信号，就往右偏 */ #include <REGX52.H> //#include "Delay.H" #include "Timer0_Init.H" #include "Timer1_Init.H" //#include ".H" //先声明一下，定义01为前轮，02为后轮，A（1、2）为左轮，B（3、4）为右轮 /*****************************01号L298N驱动IO口定义***************************/ sbit ENA_01=P0^0; //A端使能，PWM调速 sbit IN1_01=P0^1; sbit IN2_01=P0^2; sbit ENB_01=P0^3; //B端使能，PWM调速 sbit IN3_01=P0^4; sbit IN4_01=P0^5; /*****************************02号L298N驱动IO口定义***************************/ sbit ENA_02=P1^0; //A端使能，PWM调速 sbit IN1_02=P1^1; sbit IN2_02=P1^2; sbit ENB_02=P1^3; //B端使能，PWM调速 sbit IN3_02=P1^4; sbit IN4_02=P1^5; /*****************************红外检测IO口定义********************************/ sbit Infrared_Detection_01=P2^0; sbit Infrared_Detection_02=P2^1; sbit Infrared_Detection_03=P2^2; sbit Infrared_Detection_04=P2^3; unsigned long int Counter,Compare; //计数器，PWM比较值 void go() //全速前进，四驱，全正转 { IN1_01=0; //前作轮正转 IN2_01=1; IN3_01=0; //前右轮正转 IN4_01=1; IN1_02=0; //后左轮正转 IN2_02=1; IN3_02=0; //后右轮正转 IN4_02=1; } void stop() //停车，四驱，全制动 { IN1_01=0; //前左轮制动 IN2_01=0; IN3_01=0; //前右轮制动 IN4_01=0; IN1_02=0; //后左轮制动 IN2_02=0; IN3_02=0; //后右轮制动 IN4_02=0; } void turn_right() //右转弯 { IN1_01=0; //前左轮正转 IN2_01=1; IN3_01=1; //前右轮反转 IN4_01=0; IN1_02=0; //后左轮正转 IN2_02=1; IN3_02=1; //后右轮反转 IN4_02=0; } void turn_left() //左转弯 { IN1_01=1; //前左轮反转 IN2_01=0; IN3_01=0; //前右轮正转 IN4_01=1; IN1_02=1; //后左轮反转 IN2_02=0; IN3_02=0; //后右轮正转 IN4_02=1; } void Infrared_Detection_go() //红外探测全速直行 { if(Infrared_Detection_01==0&&Infrared_Detection_02==0&&Infrared_Detection_03==0&&Infrared_Detection_04==0) go(); } void Infrared_Detection_turn_right() //红外探测右转 { if(Infrared_Detection_01==1&&Infrared_Detection_02==0) turn_right(); } void Infrared_Detection_turn_left() //红外探测左转 { if(Infrared_Detection_01==0&&Infrared_Detection_02==1) turn_left(); } void Infrared_Detection_stop() { if(Infrared_Detection_01==1&&Infrared_Detection_02==1&&Infrared_Detection_03==1&&Infrared_Detection_04==1) stop(); } void main() //主函数执行 { Timer0_Init(); Timer1_Init(); Compare=30; while(1) { Infrared_Detection_go(); Infrared_Detection_turn_right(); Infrared_Detection_turn_left(); Infrared_Detection_stop(); } } void Timer0_Routine() interrupt 1 //100us@12.000MHz { TL0 = 0x9C; //设置定时初始值 TH0 = 0xFF; //设置定时初始值 Counter++; Counter%=100; //如果Counter==100，Counter赋值为0 //%10 if(Counter>Compare) { ENA_01=1; ENB_01=1; ENA_02=1; ENB_02=1; } else { ENA_01=0; ENB_01=0; ENA_02=0; ENB_02=0; } }