PIC 循迹小车 舵机 C语言程序

#include<p18f2682.h> #include"data_type.h" #include"head.h" u16 motor_zkb=0; u8 sensor1=0,sensor2=0; u8 round_flag =0; void go_front(u16 a) { LATCbits.LATC6 = 1; LATCbits.LATC7 = 0; motor_zkb = a; } void go_back(u16 b) { LATCbits.LATC6 = 0; LATCbits.LATC7 = 1; motor_zkb = b; } void stop(void) { LATCbits.LATC6 = 0; LATCbits.LATC7 = 0; motor_pwm = 0; } void duoji_turn(u8 zkb) { dj_pwm = zkb; } void delay_ms(u8 delaytime) { u8 a,b,c; for(a=delaytime;a>0;a--) for(b=10;b>0;b--) for(c=100;c>0;c--); } void xiaodou(void) { delay_ms(10); sensor1 = (PORTA&0x1F); sensor2 = (PORTB&0xFF); } void xiaodou8(void) { delay_ms(3); sensor2 = (PORTB&0xFF); } /* RB0 RB7 0 0 0 0 0 0 0 0 //保持上次 PORTB &0XFF = 0X00 0 0 0 1 1 0 0 0 //直行 PORTB &0XFF = 0X18 0 0 0 1 0 0 0 0 //左转 PORTB &0XFF = 0X08 0 0 1 1 0 0 0 0 //左转 PORTB &0XFF = 0X0C 0 0 1 0 0 0 0 0 //左转 PORTB &0XFF = 0X04 0 1 1 0 0 0 0 0 PORTB &0XFF = 0X06 0 1 0 0 0 0 0 0 PORTB &0XFF = 0X02 1 1 0 0 0 0 0 0 PORTB &0XFF = 0X03 1 0 0 0 0 0 0 0 PORTB &0XFF = 0X01 0 0 0 0 1 0 0 0 //右转 PORTB &0XFF = 0X10 0 0 0 0 1 1 0 0 PORTB &0XFF = 0X30 0 0 0 0 0 1 0 0 PORTB &0XFF = 0X20 0 0 0 0 0 1 1 0 PORTB &0XFF = 0X60 0 0 0 0 0 0 1 0 PORTB &0XFF = 0X40 0 0 0 0 0 0 1 1 PORTB &0XFF = 0XC0 0 0 0 0 0 0 0 1 PORTB &0XFF = 0X80 1 1 1 1 1 1 1 1 //停止 PORTB &0XFF = 0XFF */ void find_line8(void) { sensor2 = (PORTB&0xFF); switch(sensor2) { case 0x18: xiaodou8(); if(sensor2==0x18) { go_front(250); duoji_turn(32); } break; //////////////////////////////turn right case 0x10: xiaodou8(); if(sensor2==0x10) { go_front(200); duoji_turn(33); } break; case 0x30: xiaodou8(); if(sensor2==0x30) { go_front(150); duoji_turn(34); } break; case 0x20: xiaodou8(); if(sensor2==0x20) { go_front(130); duoji_turn(35); } break; case 0x60: xiaodou8(); if(sensor2==0x60) { go_front(120); duoji_turn(36); } break; case 0x40: xiaodou8(); if(sensor2==0x40) { go_front(110); duoji_turn(37); } break; case 0xC0: xiaodou8(); if(sensor2==0xc0) { go_front(100); duoji_turn(38); } break; case 0x80: xiaodou8(); if(sensor2==0x80) { go_front(100); duoji_turn(40); } break; ////////////////////////////// turn left case 0x08: xiaodou8(); if(sensor2==0x08) { go_front(200); duoji_turn(31); } break; case 0x0C: xiaodou8(); if(sensor2==0x0c) { go_front(150); duoji_turn(30); } break; case 0x04: xiaodou8(); if(sensor2==0x04) { go_front(130); duoji_turn(29); } break; case 0x06: xiaodou8(); if(sensor2==0x06) { go_front(120); duoji_turn(28); } break; case 0x02: xiaodou8(); if(sensor2==0x02) { go_front(110); duoji_turn(27); } break; case 0x03: xiaodou8(); if(sensor2==0x03) { go_front(100); duoji_turn(26); } break; case 0x01: xiaodou8(); if(sensor2==0x01) { go_front(100); duoji_turn(24); } break; case 0xff: xiaodou8(); if(sensor2==0xff) { stop(); duoji_turn(32); } break; default: break; } } /*------------------------- 巡线主程序 sensor13 RA0 RA1 RA2 RA3 RA4 RB0 |RB1| RB2 RB3 RB4 RB5 RB6 RB7 sensor1 sensor2 0 0 0 0 0 0 0 0 0 0 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x00 保持上一次状态 0 0 0 0 0 0 1 0 0 0 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x02 直行 0 0 0 0 0 1 1 0 0 0 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x03 左转 0 0 0 0 0 1 0 0 0 0 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x01 0 0 0 0 1 1 0 0 0 0 0 0 0 PORTA&0x1F = 0x10 .PORTB&0xFF = 0x01 0 0 0 0 1 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x10 .PORTB&0xFF = 0x00 0 0 0 1 1 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x18 .PORTB&0xFF = 0x00 0 0 0 1 0 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x08 .PORTB&0xFF = 0x00 0 0 1 1 0 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x0c .PORTB&0xFF = 0x00 0 0 1 0 0 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x04 .PORTB&0xFF = 0x00 0 1 1 0 0 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x06 .PORTB&0xFF = 0x00 0 1 0 0 0 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x02 .PORTB&0xFF = 0x00 1 1 0 0 0 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x03 .PORTB&0xFF = 0x00 1 0 0 0 0 0 0 0 0 0 0 0 0 PORTA&0x0F = 0x01 .PORTB&0xFF = 0x00 0 0 0 0 0 0 1 1 0 0 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x06 右转 0 0 0 0 0 0 0 1 0 0 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x04 0 0 0 0 0 0 0 1 1 0 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x0c 0 0 0 0 0 0 0 0 1 0 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x08 0 0 0 0 0 0 0 0 1 1 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x18 0 0 0 0 0 0 0 0 0 1 0 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x10 0 0 0 0 0 0 0 0 0 1 1 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x30 0 0 0 0 0 0 0 0 0 0 1 0 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x20 0 0 0 0 0 0 0 0 0 0 1 1 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x60 0 0 0 0 0 0 0 0 0 0 0 1 0 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x40 0 0 0 0 0 0 0 0 0 0 0 1 1 PORTA&0x1F = 0x00 .PORTB&0xFF = 0xc0 0 0 0 0 0 0 0 0 0 0 0 0 1 PORTA&0x1F = 0x00 .PORTB&0xFF = 0x80 0 1/0 1/0 1 1/0 1/0 1 1/0 0/1 1 0/1 1/0 0 PORTA&0x1F = 0x03 .PORTB&0xFF = 0xc5 START ---------------------------*/ void find_line(void) { /*// if(((PORTA&0X09) ==0x08)&&((PORTB&0x92) ==0x12)) // { // START_RUN =0x55; //启动标志位 // if(round_flag==0) // { // ROUND_NUM++; //圈数 // round_flag=1; // go_front(250); // if(ROUND_NUM>=3) //x-1圈后停止 // { // START_RUN =0x00; // ROUND_NUM =0; // round_flag =