求大神教小弟怎么实现小车PMW调速，程序怎么写？

UltraFire · 2013-8-2 14:10:50

买块STC12系列的单片机，然后官网下份手册研究下，很简单的，配置下就好了~

SugarBoy · 2013-8-2 14:51:50

小车的驱动一般分为左右轮。而每个驱动包含开关，设为E1。E2。前进A1和A2，后退B1和B2，（1为左轮，2为右轮）En就是控制是使能。可理解为开关，当En为0时，轮子不动，届时我们只要控制好En的开关时间，比如频率，这样就可以达到控制车速的效果，可与定时器的软件结合调节占空比，这就是最简单的车速控制，我之前有做成功，希望对你有帮助。

谢桂林 · 2013-8-3 09:32:15

h1654155210.8839 · 2013-8-4 10:34:29

#include
#include
#define uchar unsigned char
#define uint  unsigned int
***it IRIN=P3^3; // 红外线接口
***it PWM1 = P1^0;//直流电机1的使能端
***it PWM2=P1^1;//直流电机2的使能端
***it s1=P1^2;//控制端
***it s2=P1^3;
***it s3=P1^4;
***it s4=P1^5;
***it E=P2^7; //1602使能引脚
***it RW=P2^6; //1602读写引脚
***it RS=P2^5; //1602数据/命令选择引脚

uchar CYCLE;    //定义周期
uchar distemp;    //红外线控制数字
uchar IRCOM[7];          //红外线解码数组
uchar PWM_ON ; //定义低电平时间

void delay0(unsigned char x)       //x*0.14MS  供IR_IN子函数
{
unsigned char i;
  while(x--)
{
  for (i = 0; i<13; i++) {}
}
}

void delay()             //  大概为5US    供BUSY子函数
{
_nop_();
_nop_();
}

void Delay(uint del)          //供1602初使化函数
{
uint i,j;
for(i=0;i for(j=0;j<=148;j++)
{
}
}

void Busy()    //液晶1602忙状态
{
bit busy_flag = 1;
P0 = 0xff;
RS = 0;
delay();
RW = 1;
delay();
E = 1;
while(1)
{
busy_flag = (bit)(P0 & 0x80);
if(busy_flag == 0)
{
break;
}
}
E = 0;
}

void wcmd(uchar del) //写指令
{
RS = 0;
delay();
RW = 0;
delay();
E = 0;
delay();
P0 = del;
delay();
E = 1;
delay();
E = 0;
}

void wdata(uchar del)  //写数据
{
delay();
RS = 1;
delay();
RW = 0;
delay();
E = 0;
delay();
P0 = del;
delay();
E = 1;
delay();
E = 0;
}

void L1602_init(void) //1602初使化
{
Delay(15);
wcmd(0x38);
Delay(5);
wcmd(0x38);
Delay(5);
wcmd(0x38);
wcmd(0x38);
Busy();
wcmd(0x08);
Busy();
wcmd(0x01);
Busy();
wcmd(0x06);
Busy();
wcmd(0x0c);
}

void L1602_string(uchar hang,uchar lie,uchar *p)  //读数据
{
uchar a;
if(hang == 1)
{
a = 0x80;
}
if(hang == 2)
{
a = 0xc0;
}
a = a + lie - 1;
while(1)
{
Busy();
wcmd(a);
Busy();
wdata(*p);
a++;
p++;
if((*p == '')||(a==0x90)||(a==0xd0))
{
break;
}
}
}

void Time0(void)    //定时器初初化
{
TMOD = 0x01;    //定时器设置 1ms in 11.0592M crystal
TH0 = 0xFC;
TL0 = 0x66;          //定时1mS
ET0 = 1;
EA = 1;
TR0 = 1;         //定时器打开
}

void out1()             //外部中断初始化
{
EA=1;
PX1=1;             //外部中断优先
EX1=1;             //开外部中断
ET1=1;             //启动外部中断
IT1=1;             //电平触发方式
}

/********************************/
/*    定时中断             */
/********************************/
void tim(void) interrupt 1 using 1
{
static unsigned char count = 0;
TH0 = 0xFC;
TL0 = 0x66;             //定时1mS
if(count == PWM_ON)
{
PWM1 = 1;          //直流电机转
PWM2=1;
}
count++;
if(count == CYCLE)
{
count = 0;
PWM1 = 0;    //直流电机不转
PWM2=0;
}
}

main()
{
uchar PWM_Num;    //定义档位
Time0();
out1();
IRIN=1;
CYCLE = 20; //时间可以调整这个是100步调整周期100ms 8位PWM就是256步
PWM1 = 0;
PWM2=0;
L1602_init();             //初始化LCD
while(1)
{
if(distemp==5)
       {
      PWM_Num++;       //红外按键按一次，就给直流电机换一个档位
      if(PWM_Num==4)
{
PWM_Num=0;
         }
switch(PWM_Num)
{
            case 0:
P0=0x06;
PWM_ON=0;
break;
           case 1:
P0=0x5B;
PWM_ON=1;
break;
           case 2:
P0=0x4F;
PWM_ON=2;
break;
           case 3:
P0=0x66;
PWM_ON=3;
break;
         default:
break;
     }
   }
}
}

void IR_IN() interrupt 2 using 0       //外部中断服务程序
{
  unsigned char j,k,N=0;
   EX1 = 0;
   delay0(15);
   if (IRIN==1)
   { EX1 =1;
   return;
   }
                        //确认IR信号出现
  while (!IRIN)          //等IR变为高电平，跳过9ms的前导低电平信号。
{delay0(1);}

for (j=0;j<4;j++)       //收集四组数据
{
  for (k=0;k<8;k++)       //每组数据有8位
  {
while (IRIN)          //等 IR 变为低电平，跳过4.5ms的前导高电平信号。
   {delay0(1);}
while (!IRIN)       //等 IR 变为高电平
   {delay0(1);}
   while (IRIN)          //计算IR高电平时长
   {
delay0(1);
N++;
if (N>=30)
   { EX1=1;
   return;}                //0.14ms计数过长自动离开。
   }                      //高电平计数完毕
   IRCOM[j]=IRCOM[j] >> 1;                //数据最高位补“0”
   if (N>=8) {IRCOM[j] = IRCOM[j] | 0x80;}  //数据最高位补“1”
   N=0;
  } //end for k
} //end for j

if (IRCOM[2]!=~IRCOM[3])
{ EX1=1;
   return; }

   switch(IRCOM[2])
{
case 0x18:
distemp = 2;
         L1602_string(1, 1,"State : Forward       " );
         s1=1;
         s2=0;
         s3=1;
         s4=0;
break;
case 0x08:
distemp = 4;
         L1602_string(1, 1,"State :  Left    " );
         s1=1;
         s2=1;
         s3=1;
         s4=0;
break;
case 0x1c:
distemp = 5;
         L1602_string(2, 1,"Speed changing~    " );
break;
case 0x5a:
distemp = 6;
         L1602_string(1, 1,"State : Right " );
         s1=1;
         s2=0;
         s3=1;
         s4=1;
break;
case 0x52:
distemp = 8;
         L1602_string(1, 1,"State : Back       ");
         s1=0;
         s2=1;
         s3=0;
         s4=1;
break;
case 0x4a:
distemp = 9;
         L1602_string(1, 1,"State :Zizhuan       ");
         s1=1;
         s2=0;
         s3=0;
         s4=1;
break;
}

   EX1 = 1;
}