PWM小车壁障循迹程序.docVIP

3.程序清单 #include reg51.h #define uchar unsigned char #define uint unsigned int #define MOTOR_C P1 //P2口作为电机的控制口。 #define SIGNAL P0 //P3口的低两位为循迹传感器输入口。低后，高前。 #define SHELVES 30 //速度总档数。 #define BACK 0xfa //后退。 #define FORWARD 0xf5 //前进。 sbit lsig=P0^0; sbit rsig=P0^1; sbit rs=P3^2; sbit rw=P3^3; sbit e=P3^4; sbit hwf = P1^6; //前壁障 sbit hwb = P1^7; //后壁障 sbit PWM_R = P1^0; //右电机PWM输入口。 sbit PWM_L = P1^2; //左电机PWM输入口。 sbit PWM_br = P1^1; //后退右 sbit PWM_bl = P1^3; //后退左 uchar code table1[]= 正向行驶 ; uchar code table2[]= 反向行驶 ; uchar code table3[]= 停止中... ; uchar code tab[]=v= cm/s; uchar num; uchar percent_l = 0; //左轮占空比。 uchar percent_r = 0; //右轮占空比。 uchar percent_bl = 0; //后退左 uchar percent_br = 0; //后退右 uchar run_time = 0; //车轮运行一步的时间。 /**********lcd部分************/ void delay(uint z) { uint x,y; for(x=z;x0;x--) for(y=110;y0;y--); } void write_com(uchar com) { rw=0; rs=0; P2=com; delay(5); e=1; delay(5); e=0; } void write_data(uchar date) { rs=1; P2=date; delay(5); e=1; delay(5); e=0; } void init() { e=0; write_com(0x01); write_com(0x02); write_com(0x06); write_com(0x0c); write_com(0x38); } /*********小车部分********/ void timer_init( void ) { TMOD = 0x22; TH0 = 0x38 ; TL0 = 0x38 ; TH1 = 0x38 ; TL1 = 0x38 ; EA = 1; ET0 = 1; TR0 = 1; ET1 = 1; TR1 = 1; } void right( void ) { MOTOR_C = FORWARD; percent_r = 0; percent_l = 6; } void h_right( void ) { MOTOR_C = BACK; percent_br = 0; percent_bl = 6; } void left( void ) { MOTOR_C = FORWARD; percent_r = 6; percent_l = 0; } void h_left( void ) { MOTOR