基于51单片机的遥控+自动避障小车程序

#include <REGX52.H> #include "MOTOR.h" sbit HLE = P0^0; sbit HRE = P0^5; sbit BLE = P3^2; sbit BRE = P3^7; sbit PWM = P1^7;//舵机 unsigned char counter,speed = 0; //unsigned char counter2,speed2 = 0; unsigned char jishu,angle;//舵机 void Timer0Init() //100微秒@11.0592MHz { TMOD &= 0xF0; //设置定时器模式 TMOD |= 0x01; //设置定时器模式 TL0 = 0xA4; //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; //定时器中断允许 EA = 1; //定时器开关 PT0 = 0; //中断优先级 } void Timer0_Routine() interrupt 1 //中断 { TL0 = 0xA4; //设置定时初值 TH0 = 0xFF; //设置定时初值 // speed = 20; counter++; if (counter >= 100) { counter = 0; } if (counter < speed) { HLE = 1; HRE = 1; BLE = 1; BRE = 1; } else { HLE = 0; HRE = 0; BLE = 0; BRE = 0; } //--------------------------舵机 jishu++; if(jishu<=200) { if(jishu<=angle) { PWM = 1; } else { PWM = 0; } } else { jishu = 0; PWM = 0; } } void duoji(unsigned char num)//舵机 { if(num==1){jishu=0;angle=5;} //右 if(num==2){jishu=0;angle=7;} if(num==3){jishu=0;angle=9;} if(num==4){jishu=0;angle=12;}//中 if(num==5){jishu=0;angle=14;} if(num==6){jishu=0;angle=16;} if(num==7){jishu=0;angle=20;}//左 } void car_go(unsigned char SPEED) { speed = SPEED; motor_HL_GO(); motor_HR_GO(); motor_BL_GO(); motor_BR_GO(); } void car_back(unsigned char SPEED) { speed = SPEED; motor_HL_BACK(); motor_HR_BACK(); motor_BL_BACK(); motor_BR_BACK(); } void car_left(unsigned char SPEED) { speed = SPEED; motor_HL_STOP(); motor_HR_GO(); motor_BL_STOP(); motor_BR_GO(); } void car_right(unsigned char SPEED) { speed = SPEED; motor_HL_GO(); motor_HR_STOP(); motor_BL_GO(); motor_BR_STOP(); } void car_stop(unsigned char SPEED) { speed = SPEED; motor_HL_STOP(); motor_HR_STOP(); motor_BL_STOP(); motor_BR_STOP(); } void car_left_still(unsigned char SPEED) { speed = SPEED; motor_HL_BACK(); motor_HR_GO(); motor_BL_BACK(); motor_BR_GO(); } void car_right_still(unsigned char SPEED) { speed = SPEED; motor_HL_GO(); motor_HR_BACK(); motor_BL_GO(); motor_BR_BACK(); } void move(unsigned char num,unsigned char speed1) { if(num == 0){car_stop(0); } if(num == 1){car_go(speed1);} if(num == 2){car_back(speed1);} if(num == 3){car_left(speed1);} if(num == 4){car_right(speed1);} if(num == 5){car_left_still(speed1);} if(num == 6){car_right_still(speed1);} } //void move(unsigned char num) //{ // unsigned char m; //// unsigned char speed1; // m = num; //// speed1 = speed2; //// // switch (m) // { // case'0':car_stop(0); // break; // case'1':car_go(30); // break; // case'2':car_back(30); // break; // case'3':car_left(30); // break; // case'4':car_right(30); // break; // case'5':car_left_still(30); // break; // case'6':car_right_still(30); // break; // } //} //--------------------------------------------------- //void Timer0Init() //100微秒@11.0592MHz //{ // TMOD &= 0xF0; //设置定时器模式 // TMOD |= 0x01; //设置定时器模式 // TL0 = 0xA4; //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; //定时器中断允许 // EA = 1; //定时器开关 // PT0 = 0; //中断优先级 //} //void Timer0_Routine2() interrupt 1 //中断 //{ // TL0 = 0xA4; //设置定时初值 // TH0 = 0xFF; //设置定时初值 //// speed2 = 20; // counter2++; // if (counter2 >= 100) // { // counter2 = 0; // } // if (counter2 < speed2) // { // HLE = 1; // HRE = 1; // BLE = 1; // BRE = 1; // } // else // { // HLE = 0; // HRE = 0; // BLE = 0; // BRE = 0; // } //} //void car_go2(unsigned char SPEED) //{ // speed2 = SPEED; // motor_HL_GO2(); // motor_HR_GO2(); // motor_BL_GO2(); // motor_BR_GO2(); //} //void car_back2(unsigned char SPEED) //{ // speed2 = SPEED; // motor_HL_BACK2(); // motor_HR_BACK2(); // motor_BL_BACK2(); // motor_BR_BACK2(); //} //void car_left2(unsigned char SPEED) //{ // speed2 = SPEED; // motor_HL_STOP2(); // motor_HR_GO2(); // motor_BL_STOP2(); // motor_BR_GO2(); //} //void car_right2(unsigned char SPEED) //{ // speed2 = SPEED; // motor_HL_GO2(); // motor_HR_STOP2(); // motor_BL_GO2(); // motor_BR_STOP2(); //} //void car_stop2(unsigned char SPEED) //{ // speed2 = SPEED; // motor_HL_STOP2(); // motor_HR_STOP2(); // motor_BL_STOP2(); // motor_BR_STOP2(); //} //void car_left_still2(unsigned char SPEED) //{ // speed2 = SPEED; // motor_HL_BACK2(); // motor_HR_GO2(); // motor_BL_BACK2(); // motor_BR_GO2(); //} //void car_right_still2(unsigned char SPEED) //{ // speed2 = SPEED; // motor_HL_GO2(); // motor_HR_BACK2(); // motor_BL_GO2(); // motor_BR_BACK2(); //} //void move2(unsigned char num,unsigned char speed1) //{ // if(num == 0){car_stop2(0); } // if(num == 1){car_go2(speed1);} // if(num == 2){car_back2(speed1);} // if(num == 3){car_left2(speed1);} // if(num == 4){car_right2(speed1);} // if(num == 5){car_left_still2(speed1);} // if(num == 6){car_right_still2(speed1);} //}