基于51单片机的智能小车控制源代码(毕业设计).docxVIP

/****************************************************////***************************************************//// 智能小车控制器基于51单片机实现前进后退转弯与智能采样控制功能#include reg52.h#includeintrins.hunsigned int tata[8];unsigned char flag=0,flag2=0,flag3=0,n,m;unsigned int Angle,q,length,temp1;sbit A1=P3^2;sbit A2=P3^3;sbit B1=P3^4;sbit B2=P3^5;sbit ENA=P3^6;sbit ENB=P3^7;sbit red1=P1^3;sbit red2=P1^6;void InitUART(void){ TMOD = 0x20; SCON = 0x50; TH1 = 0xFD; TL1 = TH1; PCON = 0x00; ES = 1; TR1 = 1;EA = 1;ENA = 1;ENB = 1;}void delay(void) //直线延时延时函数{ unsigned char a,b; for(b=255;b0;b--) for(a=38;a0;a--);}void delay1(void) //转角延时函数{ unsigned char w,y,c; for(c=1;c0;c--) for(y=97;y0;y--) for(w=3;w0;w--);}void delay3(void) //避障延时函数{ unsigned char a,b,c; for(c=98;c0;c--) for(b=100;b0;b--) for(a=40;a0;a--);}void delay2(void) //手动控制延时函数{ unsigned char a,b,c; for(c=98;c0;c--) for(b=15;b0;b--) for(a=17;a0;a--){if(m){break;}}}void qianjin() //前进{unsigned char f;A1=1;A2=0;B1=1;B2=0;for(f=0;f155;f++){A1=0;A2=0;B1=0;B2=1;} //直线校准语句A1=1;A2=0;B1=1;B2=0;}void zuozhuan()//左转{A1=1;A2=0;B1=0;B2=1;}void youzhuan()//右转{A1=0;A2=1;B1=1;B2=0;}void houtui(){A1=0;A2=1;B1=0;B2=1;}void tingzhi(){A1=0;A2=0;B1=0;B2=0;}void main(){unsigned char temp;InitUART();while(1){if(flag){flag=0;for(temp=2;temp8;temp++) //字符型转成整型函数{tata[temp]=tata[temp]%16;}//执行转角指令Angle=10*(tata[2]*100+tata[3]*10+tata[4]);m=0;if(Angle10) //地面小角度摩擦校正函数{Angle++;}if(tata[1]==L){for(q=0;qAngle;q++) { zuozhuan();delay1();if(m){break;}}}else if(tata[1]==R){for(q=0;qAngle;q++) { youzhuan();delay1();if(m){break;}}}tingzhi();delay();for(temp=2;temp8;temp++) //字符型转成整型函数{tata[temp]=tata[temp]%16;}//执行前进指令length=100*(tata[5]*100+tata[6]*10+tata[7]);//m=0;if(!m){for(q=0;qlength;q++) { qianjin();delay();delay();if(m){break;}if(!red1){delay1();if(!red1){youzhuan();delay3();while(!red1);}}if(!red2){delay1();if(!red2){zuozhuan();delay3();while(!red2);} }if((!red1)||(!red2)){houtui();delay3();while((!red1)||(!red2));}}}}if(flag3){m=0;flag3=0;i