循跡避障小車程序

1、/*循跡避障小車程序/*dragon #include #define uchar unsigned char#define uint unsigned intuchar count0 = 0;/低電平的占空比 uchar count1 = 0;/高電平的占空比uchar count = 0; /0.1ms 次數(shù)標(biāo)識 uchar jd,time; 角度標(biāo)識uchar yz = 0; /遇障標(biāo)志 uint distance,t;sbit Trig=P3A0; /控制端超聲波sbit Echo=P3A2;接收端sbit pwm = P1A1; 舵機(jī)控制信號sbit rclf = P3A6; /循跡

2、紅外sbit rcrt = P3A7;sbit jz = P3A5;sbit PWM1=P1A4;/PWM 通道 1，反轉(zhuǎn)脈沖 sbit PWM2=P1A3;/PWM 通道 2，正轉(zhuǎn)脈沖 sbit PWM3=P1A6;/PWM 通道 3，反轉(zhuǎn)脈沖 sbit PWM4=P1A5;/PWM 通道 4，正轉(zhuǎn)脈沖/* 延時 1ms*/void delay(uint x)uchar i,j;for(i=0;ix;i+)for(j=0;j110;j+);電機(jī)運行void Motor_run(void) PWM1 = 1;if(+count1 = 100)count1 = 0;/* 紅外探測部分 *void

3、 ir_ch(void)if(jz = 1)jd = 14;count0 = 80 ;if(rclf = 1 & rcrt = 0 & jd = 14) | (rclf = 1 & jz = 1)count0 = 70 ;jd = 13;if(rcrt = 1 & rclf = 0 & jd = 13) | (rcrt = 1 & jz = 1)count0 = 90 ;jd = 15;if(rcrt = 1 & rclf = 0 & jd = 14) | (rcrt = 1 & jz = 1)count0 = 90 ;jd = 15;if(rclf = 1 & rcrt = 0 & jd =

4、 15) | (rclf = 1 & jz = 1)count0 = 90 ;jd= 13;/* 超聲波*/* 延時 1us*/ void delay_us(uchar m ) while(m-); void ceju(void)Trig=1;發(fā)射置高delay_us(15); /延時 10us Trig=0;發(fā)射置低/while(Echo=0); 等待接收端準(zhǔn)備接收TR0=1;啟動定時器0/while(Echo=1); 等待接收端接收 delay(3); /等待處理數(shù)據(jù) void panduan(void)uint n;if(distance245)yz = 1;for(n=0;n7000;

5、n+)jd = 13;Motor_run(); elseif(yz = 1)jd = 15;yz = 0;else ir_ch();/*定時器1舵機(jī)void timer0init(void) / 1 初始化TMOD = 0X19; /定時器1工作1定時器1工作1TH1 = 0Xff; /高第八位清零TL1=0Xa0;TH0=0;TL0=0;EA = 1; /打開全局中斷允許位(中斷允許寄存器IE)TR1 = 1; /寄存器TCON,置一啟動定時器0ET1 = 1; /允許定時器1中斷ET0 = 1; /允許定時器1中斷IT0=1;/下降沿觸發(fā)EX0=1;/外部中斷0允許中斷/*主函數(shù)void main(void)timer0init(); /定時器1初始化Trig=0;jd = 14;count = 0;delay(10);while(1)ceju();panduan();Motor_run(); /*外部中斷超聲波*/ void int0() interrupt 0 TR0=0;關(guān)定時器t=TH0*256+TL0; distance=t*0.173;/取 346m/sTH0=0;TL0=0;void Time_Int() interru