基于STC89C52 单片机实现的智能寻迹小车设计与制作

智能寻迹小车原理.doc.rar

希望对您有所帮助

发烧脑 · 2015-4-17 10:46:53

先赞一个，待我看看。

宋文琦 · 2015-4-17 17:27:25

这是神来解救我们的了! 确实是好人!

青大 · 2015-5-12 22:42:58

没有源程序参考吗！设计的电路图很详细。顶一个。

王利涛 · 2015-5-13 21:30:18

谢谢楼主好好学一下。。。。。。。。。。。。。。。。。。。。。。。。。

方言 · 2015-5-13 23:34:00

谢谢楼主好好学一下。。。。。

zh8123 · 2015-6-5 17:11:22

希望是有用的.....心力衰竭了

seagullwln · 2015-6-12 14:11:27

青大发表于 2015-5-12 22:42
没有源程序参考吗！设计的电路图很详细。顶一个。

#include "STC12C5A.h"
***it IN1 = P1^6; //左
***it IN2 = P1^5; //左
***it ENA = P1^3; //左
***it IN3 = P1^0; //右
***it IN4 = P1^1; //右
***it ENB = P1^4; //右
***it right3 = P0^0;
***it right2 = P0^1;
***it right1 = P0^2;
***it right0 = P0^3;
***it left0 = P0^4;
***it left1 = P0^5;
***it left2 = P0^6;
***it left3 = P0^7;
//#define M 1
//#define Y 0
unsigned char lmem = 0;
unsigned char rmem = 0;
//unsigned char total = 0;
void PWM_in1()
{
CCON = 0;
CMOD = 0x00; //PWM频率  S/12;
CL = 0;
CH = 0;
PCA_PWM0 = 0x00;
PCA_PWM1 = 0x00;
CCAPM0 = 0x42;
CCAPM1 = 0x42;
CR = 1;
}
void PWM_set()
{
CCAP0L = 28;
CCAP0H = 28;
CCAP1L = 28;
CCAP1H = 28;
}
void delay(unsigned int d)//10ms
{
unsigned char a,b;
for( ; d > 0; d--)
      for( b = 38; b > 0; b--)
         for( a = 130; a > 0; a--);
}
void control(unsigned int mark) //电机驱动
{
IN1 = 0;    // 停止0
IN2 = 0;
IN3 = 0;
IN4 = 0;
ENA = 1;
ENB = 1;
if (mark == 1)//快速前进  1
{
IN1 = 1;
IN3 = 1;
}
if(mark == 2)//
{
IN1 = 1;
IN3 = 0;
}
if(mark == 3)//
{
IN1 = 0;
IN3 = 1;
}
}
/*void TimerConfiguration() //定时器
{
TMOD = 0x01; //选择工作方式1
TH0 = 0xD8;    //设置初始值,定时10ms
TL0 = 0xF0;
EA = 1;    //打开总中断
ET0 = 1;    //打开定时器0中断
TR0 = 1;    //启动定时器0
}
void Timer0() interrupt 1 //定时器中断0
{
TH0 = 0xD8;    //重复设置初始值
TL0 = 0xF0;
total++;
if (total == 50)
{
total = 0;
stop2 = 0;
}
}*/
/*void Timer1() interrupt 3 //定时器中断1
{
TH0 = 0xFC;    //重复设置初始值 1ms
TL0 = 0x18;
}
***/
/****
void IntConfiguration()//外部中断
{
IT0=1;
EX0=1;
IT1=1;
EX1=1;
EA=1;
}
void Int0() interrupt 0 //外部中断0
{
if();
}
void Int1() interrupt 2 //外部中断1
{
if();
}
****/
void main()
{
PWM_in1();
PWM_set();
//TimerConfiguration();
while(1)
{
if((left0==0)&&(left1 == 0)&&(left2 == 0)&&(left3 == 0)&&(right0==0)&&(right1 == 0)&&(right2 == 0)&&(right3 == 0))
{
control(1);
continue;
}
/*if(stop1)
{
if((left1 == 1)&&(right1 == 1))
{
stop1 = 0;
stop2++;
if(stop2 >= 6)
{
control(1);
delay(100000);
}

}
}*/
if(left3 == 0)
lmem = 1;
else if(right3 == 0)
rmem = 1;
if((left0==0)||(left1 == 0)||(left2 == 0)||(right0==0)||(right1 == 0)||(right2 == 0)||(right3 == 0))
lmem = 0;
else if((left0==0)||(left1 == 0)||(left2 == 0)||(left3 == 0)||(right0== 0)||(right1 == 0)||(right2 == 0))
rmem = 0;
if((left0 == 0)&&(left1 == 0)&&(left2 == 0)&&(left3 == 0)&&(right0 == 0)&&(right3 == 1))
{
control(3);
continue;
}
else if((right0 == 0)&&(right1 == 0)&&(right2 == 0)&&(right3 == 0)&&(left0 == 0)&&(left3 == 1))
{
control(2);
continue;
}
else if((left0==0)||(left1 == 0)||(left2 == 0)||(left3 == 0)||(lmem == 1))
{
control(3);
}
else if((right0==0)||(right1 == 0)||(right2 == 0)||(right3 == 0)||(rmem == 1))
{
control(2);
}
else
{
control(1);
}
}
}