电动小车的电机驱动控制c51.docVIP

电动小车的电机驱动及控制c51 designed my Robot, which use two motors control?rear wheels and the single front wheel is free. It has 4-infrared sensors on the bottom for detect black tracking tape, when the sensors detected black color, output of?comparator, LM324 is low logic and the other the output is high. Microcontrollor AT89C2051 and H-Bridge driver L293D were used?to control direction and speed of motor.  Fig 1. Circuit diagram of my Robot. Fig 2. Circuit diagram of Infrared sensors and comparators. Fig 4.?Position of sensors,?left hand side is side view and right hand side is top view. 程序如下： #include 8051io.h#include 8051reg.hextern register unsigned char speedleft,speedright;register unsigned char high,low,flag,time; main P1 0x40;? P3 0xff;? high 80;? low? 30;? flag 0;? time 50;? Start ; while 1 P3| 0x0f; Run ; Start char exit,key;? exit 1; while exit key P1; if key 0x40 0 exit 0; Run char sensors;?? sensors P3 0x0f ; if sensors 0x01 0 TurnRight ; flag 1; else? if sensors 0x08 0 TurnLeft ; flag 2; else? if sensors 0x09 Forward high ; flag 0; else? if sensors 0x0b || sensors 0x0d flag 0 Forward low ; Forward char speed P1 0x64;? speedright speed+10;? speedleft? speed;? delay time ; TurnRight P1 0x68;? speedright low+5;? speedleft? low;? delay time ; TurnLeft P1 0x54;? speedright low+5;? speedleft? low;? delay time ; Reverse char speed P1 0x58;? speedright speed;? speedleft? speed+5;? delay time ; Building industry opens up new world of entrepreneurial struggle to build a three provinces of regional central cities--in the Communist x counties the six plenary session members and comrades: today, I was commissioned by the County party Committee Standing Committee, reports to the General Assembly. Consideration of all members and alternates, and comrades attending advice. A, and this year yilai of work recalled this year yilai, in municipal of right led Xia, County solidarity le