超声波避障小车程序设计.doc

/***********************************************************************************************************/? //5路超声波避障实验：51单片机?+??HC-SR04超声波?//? /***********************************************************************************************************/??????? ?????#include?AT89x52.H??//器件配置文件? ??#include?intrins.h????#define??RX1??P3_6??? ??//小车左侧超声波HC-SR04接收端?? ?#define??TX1??P1_7?????//发送端?? ?????#define??RX2??P3_3?????//左前方超声波? ??#define??TX2??P0_2??????? ??#define??RX3??P2_4?????//正前方超声波? ??#define??TX3??P2_5??? ?#define??RX4??P3_5?????//右前方超声波?? ?#define??TX4??P3_4??????????????? ?#define??RX5??P3_7?????//右侧超声波?? ?#define??TX5??P1_6?? ?#define?Left_moto_pwm???P1_5??//PWM信号端 ??#define?Right_moto_pwm???P1_4???//PWM信号端??? ?//定义小车驱动模块输入IO口?? ?sbit?IN1=P1^0;? ?sbit?IN2=P1^1;?? sbit?IN3=P1^2; ??sbit?IN4=P1^3;?? sbit?EN1=P1^4;?? sbit?EN2=P1^5;?? ???bit?Right_moto_stop=1;? ?bit?Left_moto_stop?=1;?? ?#define?Left_moto_go??????{IN1=0,IN2=1,EN1=1;}??//左电机向前走? ?#define?Left_moto_back????{IN1=1,IN2=0,EN1=1;}??//左边电机向后走?? #define?Left_moto_Stop????{EN1=0;}??//左边电机停转??????????????? #define?Right_moto_go?????{IN3=1,IN4=0,EN2=1;}?//右边电机向前走? ?#define?Right_moto_back???{IN3=0,IN4=1,EN2=1;}?//右边电机向后走 ?#define?Right_moto_Stop???{EN2=0;}?//右边电机停转???? ?unsigned?char?pwm_val_left??=0;//变量定义? unsigned?char?push_val_left?=0;//?左电机占空比N/20? ?unsigned?char?pwm_val_right?=0;?? unsigned?char?push_val_right=0;//?右电机占空比N/20?????? ?unsigned?int??time=0;????? unsigned?int??timer=0;??????? unsigned?long?S1=0;????? unsigned?long?S2=0;????? unsigned?long?S3=0;???? ?unsigned?long?S4=0;????? unsigned?long?S5=0;????? ?void?delay_1ms(unsigned?char?x)??????????//1ms延时函数,100ms以内可用??{??unsigned?char?i;??while(x--)??for(i=124;i0;i--);???}??? /********************************************************/???? void?Count1()???//计算左侧超声波距离的函数? ?{???while(!RX1);??//当RX1为零时等待? ??TR0=1;???????//开启计数??? while(RX1);??//当RX1为1计数并等待??? TR0=0;????//关闭计数?? ?time=TH0*256+TL0;??? TH0=0;??? TL0=0;???????? ?S1=(time*1.7)/10