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单片机程序单片机程序.doc
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2022-07-08
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单片机程序单片机程序
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1)电动车运行所需头文件 kz.h 程序如下
#define Z_f PORTD|=BIT(3) //左轮正转
#define Z_z PORTD&=~BIT(3) //左轮反转
#define Z_cph PORTD|=BIT(2) //驱动左轮
#define Z_cpl PORTD&=~BIT(2)
#define Y_f PORTD|=BIT(5) //右轮正转
#define Y_z PORTD&=~BIT(5) //右轮反转
#define Y_cph PORTD|=BIT(4) //驱动右轮
#define Y_cpl PORTD&=~BIT(4)
#define jin 1 //前行
#define tui 0 //后退
#define you 0 //
#define zuo 1 //
#define back_left (PINC&0x01)
#define back_right (PINC&0x08)
#define front_left (PINC&0x02)
#define front_right (PINC&0x04)
/***********************两轮转弯程序********************************/
void two_lun(unsigned char d,unsigned char time,unsigned int r)
{
unsigned int rr;
unsigned int sr;
unsigned int pinlu=10;
rr=r*4.25; //*******r=95 为转九十度*********///
if(d==1) //判断小车行进方向
{
Z_f; //小车向左方向旋转
Y_f;
}
else
{
Z_z; //小车向右方向旋转
Y_z;
}
for(;pinlu>=2;pinlu--) //启动
{
if((front_left)&&(front_right))
{break;}
if((back_left)&&(back_right))
{break;}
Z_cph; //pa0
Y_cph; //pa2
delay_nus(500); //行驶脉冲
Z_cpl;
![](https://csdnimg.cn/release/download_crawler_static/85952564/bg2.jpg)
Y_cpl;
delay_nms(pinlu);
}
for(sr=0;sr<=rr;sr++) //正常前进
{if((front_left)&&(front_right))
{break;}
if((back_left)&&(back_right))
{break;}
Z_cph; //pa0
Y_cph; //pa2
delay_nus(500); //行驶脉冲
Z_cpl;
Y_cpl;
delay_nms(time);
}
for(;pinlu<=12;pinlu++)
{ if((front_left)&&(front_right))
{break;}
if((back_left)&&(back_right))
{break;}
Z_cph; //pa0
Y_cph; //pa2
delay_nus(500);
Z_cpl;
Y_cpl;
delay_nms(pinlu);
}
}
void jin_go(unsigned char jin_time,unsigned int s) //前进程序
{
unsigned int rr;
unsigned int sr;
unsigned int pinlu=10;
unsigned int walklong;
walklong=s*4.35;
Z_z; //pa1
Y_f; //pa3
for(;pinlu>=2;pinlu--) //启动
{
if((front_left)&&(front_right))
{
break;
}
![](https://csdnimg.cn/release/download_crawler_static/85952564/bg3.jpg)
Z_cph; //pa0
Y_cph; //pa2
delay_nus(500);
Z_cpl;
Y_cpl;
delay_nms(pinlu);
}
for(sr=0;sr<=walklong;sr++) //正常前进
{
if((front_left)&&(front_right))
{
break;
}
Z_cph; //pa0
Y_cph; //pa2
delay_nus(500);
Z_cpl;
Y_cpl;
if(front_left) //左前传感器
{
two_lun(zuo,jin_time,10);
xing_zou(jin,jin_time,75);
}
if(front_right)
{
two_lun(you,jin_time,10);
xing_zou(jin,jin_time,75);
}
delay_nms(jin_time);
}
for(;pinlu<=12;pinlu++)
{
Z_cph; //pa0
Y_cph; //pa2
delay_nus(500);
Z_cpl;
Y_cpl;
delay_nms(pinlu);
if((front_left)&&(front_right))
{
break;
}
}
![](https://csdnimg.cn/release/download_crawler_static/85952564/bg4.jpg)
}
void tui_go(unsigned char tui_time,unsigned int s) //前进程序
{
unsigned int sr;
unsigned int pinlu=10;
unsigned int walklong;
walklong=s*4.35;
Z_f; //pa1
Y_z; //pa3
for(;pinlu>=2;pinlu--) //启动
{
if((back_left)&&(back_right))
{
break;
}
Z_cph; //pa0
Y_cph; //pa2
delay_nus(500); ///1 定值 500
Z_cpl;
Y_cpl;
delay_nms(pinlu);
}
for(sr=0;sr<=walklong;sr++) //正常前进
{
if((back_left)&&(back_right))
{
break;
}
Z_f;; //pa1
Y_z; //pa3 纠正方向
Z_cph; //pa0
Y_cph; //pa2
delay_nus(500);
Z_cpl;
Y_cpl;
delay_nms(tui_time);
if(back_right) //右前传感器
{
two_lun(zuo,tui_time,10);
xing_zou(tui,tui_time,75);
}
if(back_left)
{
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