avr或51单片机pwm控制小车左右电机并调速.docx

avr或51单片机pwm控制小车左右电机并调速，红外对管检测的程序 // Crystal: 8.0000Mhz #include iom16v.h #include macros.h #define uchar unsigned char #define uint unsigned int uint discrepancy=0; //function declaration void port_init(void); void motor(uchar index, uchar speed);//input PWM wave void sensor_state(void);//get the running condition void revise_to_line(void );//0=run forward,1=left,2=right,3=sever left,4=sever right void delayms(uint MS) ; //call this routine to initialize all peripherals调用这个例程初始化所有外设 void init_devices0(void) { //stop errant interrupts until set up CLI(); //disable all interrupts timer0_init(); MCUCR = 0x00; GICR = 0x00; TIMSK = 0x02; //timer interrupt sources SEI(); //re-enable interrupts //all peripherals are now initialized } //initialize T/C1 void timer1_init(void) { TCCR1B = 0x00;//停止定时器 TIMSK |= 0x00;//中断允许 TCNT1H = 0x00; TCNT1L = 0x00;//初始值 OCR1AH = 0x00; OCR1AL = 0xF0;//匹配A值 OCR1BH = 0x00; OCR1BL = 0xF0;//匹配B值 ICR1H = 0xFF; ICR1L = 0xFF;//输入捕捉匹配值 TCCR1A = 0xA1; TCCR1B = 0x01;//启动定时器 } //call this routine to initialize all peripherals void init_devices1(void) { CLI(); //禁止所有中断 timer1_init( ); MCUCR = 0x00; MCUCSR = 0x80;//禁止JTAG GICR = 0x00; SEI();//开全局中断 } //PWM 调速,通过改变占空比，周期性地开闭使能端，调节电机的有效电压。 //use PD4,PD5 to output PWM,speed(0~255) void motor(uchar index, uchar speed) { if(index==1) {OCR1AH = 0x00; OCR1AL =speed; } if(index==2) {OCR1BH = 0x00; OCR1BL =speed; } } //delay time by ms void delayms(uint MS) { uint i,j; for( i=0;iMS;i++) for(j=0;j1141;j++); //1141是在8MHz晶振下 } //port initial void port_init( ) { DDRA = 0x00;//input running state DDRB = 0xFF;//control two motors DDRC = 0x00; DDRD = 0x30;//PWM wave PORTA = 0x00; PORTB = 0x00; PORTC = 0x00; PORTD = 0x30; } /*****************传感器函数********************/ //获取小车的行驶状态。0（直线），1（左偏），2（右偏），3（严重左偏），4（严重右偏） //从左到右传感器（光电对管）对应的输入端口：PA0，PA1，PA2，PA3，PA4 //正常行驶时引导线夹在PA1,PA3之间 //根据端口PA0，PA1，PA3，PA4的值判断行驶状态。（中间传感器PA2并未使用） void sensor_state(void)//传感器状态 { uchar state,state