循迹避障小车程序.docxVIP

/*****************循迹避障小车程序*************************************//**********************dragon*************************************/#includereg52.h#define uchar unsigned char#define uint unsigned intuchar count0 = 0;//低电平的占空比uchar count1 = 0;//高电平的占空比uchar count = 0; //0.1ms 次数标识ucharjd,time; //角度标识ucharyz = 0; //遇障标志uintdistance,t;sbit Trig=P3^0; //控制端超声波sbit Echo=P3^2; //接收端sbitpwm = P1^1; //舵机控制信号sbitrclf = P3^6; //循迹红外sbitrcrt = P3^7;sbitjz = P3^5;sbit PWM1=P1^4;//PWM 通道 1，反转脉冲sbit PWM2=P1^3;//PWM 通道 2，正转脉冲sbit PWM3=P1^6;//PWM 通道 3，反转脉冲sbit PWM4=P1^5;//PWM 通道 4，正转脉冲/***延时1ms***/void delay(uint x){uchari,j; for(i=0;ix;i++)for(j=0;j110;j++);} /************电机运行**************/voidMotor_run(void){ PWM1 = 1; if(++count1 count0) { PWM2 = 0; }else { PWM2 = 1;}if(count1 = 100) { count1 = 0; } }/**********************红外探测部分*************************************/voidir_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 == 15) || (rclf == 1 jz == 1) ){ count0 = 90 ;jd= 13; }}/********************* 超声波************//***延时1us***/voiddelay_us(uchar m ){while(m--);}voidceju(void){ Trig=1; //发射置高delay_us(15); //延时10usTrig=0; //发射置低//while(Echo==0); //等待接收端准备接收TR0=1; //启动定时器0//while(Echo==1);//等待接收端接收delay(3); // 等待处理数据}voidpanduan(void){uint n;if(distance245){yz = 1;for(n=0;n7000;n++) {jd = 13;Motor_run(); } }else {if(yz == 1) {jd = 15;yz = 0; }else {ir_ch(); }}}/***********定时器1舵机***********/void timer0init(void) // 1初始化 {TMOD = 0X19; //定时器1工作1 定时器1工作1 TH1 = 0Xff; //高第八位清零TL1 = 0Xa0;TH0=0;TL0=0;EA = 1; //打开全局中断允许位（中断允许寄存器IE）TR1 = 1; //寄存器TCON,置一启动定时器0ET1 = 1; //允许定时器1中断ET0 = 1; //允许定时器1中断IT0=1;//下降沿触发EX0=1;//外部中断