csb.zip_PCB 仿真 小车_csb_l298 pcb_仿真_超声波传感器

#include<STC_NEW_8051.H> typedef unsigned char uchar; typedef unsigned int uint; sbit in1=P2^4; //L298控制1 sbit in2=P2^5; //L298控制2 sbit in3=P2^6; //L298控制3 sbit in4=P2^7; //L298控制4 sbit k1=P3^6; //按键1 sbit k2=P3^7; //按键2 sbit dsw4=P2^0; //拨码4 sbit dsw3=P2^1; //拨码3 sbit dsw2=P2^2; //拨码2 sbit dsw1=P2^3; //拨码1 sbit TX0=P3^4; //传感器0触发 sbit RX0=P3^2; //传感器0回响 sbit TX1=P3^5; //传感器1触发 sbit RX1=P3^3; //传感器1回响 uint time0=0,time1=0; uchar buf,temp; uchar motorl,motorr; uchar key; char offset,a; bit flag,startflag; /*void serialinit() { AUXR=0x11; BRT=0xfd; SCON=0x50; PCON=0x00; EA=1; ES=1; }*/ void pwminit() //PWM初始化 { CCON=0; CL=0; CH=0; CMOD=0x08; //PWM频率为 CCAPM0=CCAPM1=0x42;//设置为PWM输出模式 CR=1; } void timerinit() //定时器初始化 { TMOD=0x99; TCON=0x50; TH0=0; TL0=0; TH1=0; TL1=0; } //延时时间：10微秒 void Delay10us(void) { unsigned char i,j,k; for(i=3;i>0;i--) for(j=14;j>0;j--) for(k=1;k>0;k--); } //延时时间：10000微秒 void Delay(void) { unsigned char i,j,k; for(i=22;i>0;i--) for(j=82;j>0;j--) for(k=65;k>0;k--); } /*void senddata(uchar dat) { SBUF=dat; while(!TI); TI=0; }*/ void read() //读取传感器 { TR0=TR1=1; TX0=TX1=1; Delay10us(); TX0=TX1=0; Delay(); time0=TH0*256+TL0; time1=TH1*256+TL1; TH0=TL0=TH1=TL1=0; } void speed(uchar motorl,uchar motorr) //调速控制 { CCAP0H=CCAP0L=motorl-offset+a; CCAP1H=CCAP1L=motorr+offset+a; } void forward() {in1=in4=1;in2=in3=0;} void stopl() {in3=in4=0;} void stopr() {in1=in2=0;} void readkey() { key=P2&0x0f; key>>=1; switch(key) { case 0x00: a=0x25; break; case 0x01: a=0x20; break; case 0x02: a=0x15; break; case 0x03: a=0x10; break; case 0x04: a=0x08; break; case 0x05: a=0x05; break; case 0x06: a=0x02; break; case 0x07: a=0x00; break; } } void main() { P3M1=0x00;P3M0=0x30; //传感器触发端配置为强推挽输出 TX0=TX1=0; //触发端复位 //serialinit(); timerinit(); //定时器初始化 pwminit(); //PWM初始化 readkey(); //全局速度衰减设置 offset=-0x02; //固有误差偏移修正 speed(0x60,0x60); //速度复位 forward(); //开始前进 while(dsw4) { read(); //senddata(0x50); if(time0>1900 || time1>1900) //超出测距范围 { if(time0>1900 && time1>1900) //两侧传感器都超出 {speed(0x50,0x50);forward();} //直线前进 else if(time0>1900) //左传感器超出 {stopl();speed(0xd0,0x75);forward();}//左直拐 else if(time1>1900) //右传感器超出 {stopr();speed(0x75,0xd0);forward();}//右直拐 } else //测量范围内 { forward(); //前进 if(time0>time1 && time0-time1>50) { if(time0-time1>800){stopl();speed(0xd0,0x75);forward();} else if(time0-time1>600){speed(0x65,0x42);forward();} else if(time0-time1>500){speed(0x63,0x45);forward();} else if(time0-time1>400){speed(0x62,0x47);forward();} else if(time0-time1>300){speed(0x61,0x49);forward();} else if(time0-time1>200){speed(0x5e,0x4b);forward();} else if(time0-time1>100){speed(0x5a,0x4e);forward();} //else if(time0-time1> 50){speed(0x58,0x4f);forward();} else {speed(0x52,0x50);forward();} } else if(time0<time1 && time1-time0>50) { if(time1-time0>800){stopr();speed(0x75,0xd0);forward();} else if(time1-time0>600){speed(0x42,0x65);forward();} else if(time1-time0>500){speed(0x45,0x63);forward();} else if(time1-time0>400){speed(0x47,0x62);forward();} else if(time1-time0>300){speed(0x49,0x61);forward();} else if(time1-time0>200){speed(0x4b,0x5e);forward();} else if(time1-time0>100){speed(0x4e,0x5a);forward();} //else if(time1-time0> 50){speed(0x4f,0x58);forward();} else {speed(0x50,0x52);forward();} } else {speed(0x50,0x50);forward();} } } }