基于STM32的07年国赛电动车上跷跷板程序源码(仅含源代码).rar

/***************************************************** This program was produced by the CodeWizardAVR V2.03.4 Standard Automatic Program Generator � Copyright 1998-2008 Pavel Haiduc, HP InfoTech s.r.l. http://www.hpinfotech.com Project : Version : Date : 2009/7/25 Author : Company : Comments: Chip type : ATmega16L Program type : Application Clock frequency : 14.745600 MHz Memory model : Small External RAM size : 0 Data Stack size : 256 *****************************************************/ #include <mega16.h> #include <delay.h> // USART控制和状态寄存器的标志位定义 #define RXC 7 // UCSRA位定义 #define TXC 6 #define UDRE 5 #define FE 4 #define DOR 3 #define PE 2 #define U2X 1 #define MPCM 0 #define RXCIE 7 // UCSRB位定义 #define TXCIE 6 #define UDRIE 5 #define RXEN 4 #define TXEN 3 #define UCSZ2 2 #define RXB8 1 #define TXB8 0 #define URSEL 7 // UCSRC位定义 #define UMSEL 6 #define UPM1 5 #define UPM0 4 #define USBS 3 #define UCSZ1 2 #define UCSZ0 1 #define UCPOL 0 #define FRAMING_ERROR (1<<FE) #define PARITY_ERROR (1<<PE) #define DATA_OVERRUN (1<<DOR) #define DATA_REGISTER_EMPTY (1<<UDRE) #define MOTOR_L1 PORTB.0 //电机 #define MOTOR_L2 PORTB.1 #define MOTOR_R1 PORTB.2 #define MOTOR_R2 PORTB.3 #define BW_LEFT PINA.0 //黑白线 #define BW_RIGHT PINA.1 #define BUZZER PORTA.3 //蜂鸣器 #define NULL 0x00 #define LEFT 0x01 #define RIGHT 0x02 #define BAL_START 0x03 #define BAL 0x04 #define BAL_OK 0x05 #define GET_B 0x06 #define B_OK 0x07 #define A_OK 0x08 #define MODE_B 0x09 #define MODE_P 0x0A #define BAL_AGAIN 0x0B #define FULL 0xFF unsigned char tran = 5; //USART数据 bit receive_ok = 0; bit dir = 0; bit mode2 = 0; unsigned char delay_dir = 0; interrupt [USART_RXC] void usart_rx_isr(void) // USART接收中断服务 { unsigned char status,data; status = UCSRA; data = UDR; if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0) { tran = data; receive_ok = 1; } } void USART_Transmit(unsigned char data) { while (!(UCSRA & DATA_REGISTER_EMPTY)); // 等待发送寄存器空 UDR = data; // 发送数据 } void motor_direct(unsigned char direct) //电机换向 { if(direct == 0) { MOTOR_L1 = 0; MOTOR_L2 = 1; MOTOR_R1 = 0; MOTOR_R2 = 1; } if(direct == 1) { MOTOR_L1 = 1; MOTOR_L2 = 0; MOTOR_R1 = 1; MOTOR_R2 = 0; } } void motor_start(void) //电机启动 { if(dir == 0) { MOTOR_L1 = 0; MOTOR_L2 = 1; MOTOR_R1 = 0; MOTOR_R2 = 1; } if(dir == 1) { MOTOR_L1 = 1; MOTOR_L2 = 0; MOTOR_R1 = 1; MOTOR_R2 = 0; } } void motor_stop(void) //电机停止 { MOTOR_L1 = 1; MOTOR_L2 = 1; MOTOR_R1 = 1; MOTOR_R2 = 1; } void motor_jerk(unsigned int time ,unsigned char direct_stop) { motor_direct(direct_stop); delay_ms(time); motor_stop(); } void buzzer_voice(void) { BUZZER = 1; delay_ms(500); BUZZER = 0; } void mode_pro(void) { unsigned char cache = 0; bit once = 0,balance_again = 0; //buzzer_voice(); motor_start(); //电机开启 delay_ms(500); motor_stop(); while(1) { if(BW_RIGHT == 1 && BW_LEFT == 0) { OCR1AH=0xef; OCR1AL=0xFF; OCR1BH=0xaf; OCR1BL=0xFF; delay_ms(300); motor_jerk(150,0); OCR1BH=0xef; OCR1BL=0xFF; OCR1AH=0x00; OCR1AL=0xFF; delay_ms(300); motor_jerk(200,1); delay_dir = 1; } else if(BW_RIGHT == 0 && BW_LEFT == 1) { OCR1BH=0xef; OCR1BL=0xFF; OCR1AH=0xaf; OCR1AL=0xFF; delay_ms(300); motor_jerk(150,0); OCR1AH=0xef; OCR1AL=0xFF; OCR1BH=0x00; OCR1BL=0xFF; delay_ms(300); motor_jerk(200,1); delay_dir = 2; } else if(BW_RIGHT == 0 && BW_LEFT == 0) { OCR1AH=0xc0; OCR1AL=0xFF; OCR1BH=0xf0; OCR1BL=0xFF; motor_jerk(30,0); } else if(BW_RIGHT == 1 && BW_LEFT == 1) { /*if(delay_dir == 1) { OCR1AH=0xef; OCR1AL=0xFF; OCR1BH=0xaf; OCR1BL=0xFF; delay_ms(300); motor_jerk(150,0); OCR1BH=0xef; OCR1BL=0xFF; OCR1AH=0x00; OCR1AL=0xFF; delay_ms(300); motor_jerk(200,1); } else if(delay_dir == 2) { OCR1BH=0xef; OCR1BL=0xFF; OCR1AH=0xaf; OCR1AL=0xFF; delay_ms(300); motor_jerk(150,0); OCR1AH=0xef; OCR1AL=0xFF; OCR1BH=0x00; OCR1BL=0xFF; delay_ms(300); motor_jerk(200,1); }*/ break; } delay_ms(400); }; OCR1AH=0xef; OCR1AL=0xFF; OCR1BH=0xef; OCR1BL=0xFF; buzzer_voice(); motor_start(); //电机开启 delay_ms(1000); motor_stop(); again: delay_ms(1000); USART_Transmit(BAL_START); USART_Transmit(BAL_START); USART_Transmit(BAL_START); USART_Transmit(BAL_START); USART_Transmit(BAL_START); while (1) //找平衡 { cache = tran; if(receive_ok == 1 && cache == LEFT) { motor_jerk(30,1); delay_ms(800); } else if(receive_ok == 1 && cache == RIGHT) { motor_jerk(30,0); delay_ms(800); } else { motor_stop(); if(cache == BAL && once == 0) { buzzer_voice(); once = 1; } if(cache == BAL_OK) { buzzer_voice(); break; } } } if(balance_again == 0) { while(1) { if(tran == BAL_AGAIN) break; delay_ms(100); } balance_again = 1; once = 0; receive_ok = 0; goto again; } motor_jerk(150,0); while (1) { if(BW_LEFT == 1 && BW_RIGHT == 1) { USART_Transmit(GET_B); USART_Transmit(GET_B); USART_Transmit(GET_B); USART_Transmit(GET_B); USART_Transmit(GET_B); break; } else { motor_jerk(30,0); delay_ms(800); } } while (1) { if(tran == B_OK) break; }; motor_jerk(1200,1); while (1) { if(BW_LEFT == 1 && BW_RIGHT == 1) { motor_jerk(30,1); delay_ms(500); motor_jerk(30,1); delay_ms(500); motor_jerk(30,1); break; } else { motor_jerk(40,1); delay_ms(800); } }; USART_Transmit(A_OK); USART_Transmit(A_OK); USART_Transmit(A_OK); USART_Transmit(A_OK); USART_Transmit(A_OK); while (1) { }; } void main(void) { unsigned char cache = 0; bit once = 0; //unsigned char middle,balance,B,A; //unsigned char time_h[10] = {0},time_m[10] = {0},time_s[10] = {0}; //unsigned char *mi