飞思卡尔小车电组程序.docVIP

/*-------------------------------------------------- --------------------------------------------------------*/ #includereg52.h //单片机专用的头文件 #define uchar unsigned char #define uint unsigned int //**********马达控制端口定义***********// sbit ENA = P2^4; //驱动转向马达使能，若为0则马达停止 sbit ENB = P2^5; //驱动动力马达使能，若为0则马达停止 sbit IN1 = P2^0; //控制转向马达正转和反转 sbit IN2 = P2^1; //控制转向马达正转和反转 sbit IN3 = P2^2; //控制动力马达正转和反转 sbit IN4 = P2^3; //控制动力马达正转和反转 //*********扫描探头端口定义(从右到左1~7）*******// sbit sensor1=P1^0; sbit sensor2=P1^1; sbit sensor3=P1^2; sbit sensor4=P1^3; sbit sensor5=P1^4; sbit sensor6=P1^5; sbit sensor7=P1^6; int motor_mark; //******探头扫描程序********// uint senscan() { if(P1=0x77) motor_mark=1; if(sensor1==0) motor_mark=2; if(sensor2==0) motor_mark=3; if(sensor3==0) motor_mark=4; if(sensor5==0) motor_mark=5; if(sensor6==0) motor_mark=6; if(sensor7==0) motor_mark=7; } //*******PWM调速用延时程序*****************// void pwm_delay(uchar i) { uchar j; for(;i0;i--) for(j=29;j0;j--); } //*****************************PWM减速程序*************************************// void PWMout(uchar p) { ENB=1; pwm_delay(p); ENB=0; pwm_delay(10-p); } //*****全速前进函数********// void qianjin() { ENA=0; ENB=1; IN3=1; IN4=0; } //****左转函数****// void turnleft() { ENA=1; IN1=0; IN2=1; PWMout(5); } //*****右转函数*****// void turnright() { ENA=1; IN1=1; IN2=0; PWMout(5); } /*----------马达控制函数------------*/ execute_motor() { switch(motor_mark) { case 1: qianjin(); break; case 2: turnright(); break; case 3: turnright(); break; case 4: turnright(); break; case 5: turnleft(); break; case 6: turnleft(); break; c