循迹小车完整程序.docVIP

PAGE PAGE 1 程 序 # include reg51.h //********驱动芯片L298管脚位声明***** sbit IN1= P1^0; sbit PWM1= P1^1; sbit IN2= P1^2; sbit IN3= P1^3; sbit PWM2= P1^4; sbit IN4= P1^5; //********传感器TCRT5000管脚位声明**** sbit XL= P1^6; //左侧第一个传感器 sbit XR= P1^7; //右侧第一个传感器 sbit YL= P2^0; //左侧第二个传感器 sbit YR= P2^1; //右侧第二个传感器 //********用于定时计数的两个全局变量位声明****** int count1=0; int count2=0; //********左边电机前进******* void forward_turn1() { IN1=0; IN2=0; } //*********左边电机后退****** void reverse_tuen1() { IN1=1; IN2=0; } //*********右边电机前进******* void forward_turn2() { IN3=0; IN4=1; } //**********右边电机后退******** void reverse_turn2() { IN3=1; IN4=0; } //***********左边电机速度控制函数****** void speed1(int ct,int sd) { if(ct=sd) PWM1=1; else PWM1=0; } //************右边电机速度控制函数****** viod speed2(int ct,int sd) { if （ct=sd） PWM2=1; else PWM2=0; //*************小车直线前进函数********* void advance (int ct1,int sd1,int ct2,int sd2); { forward_turn1(); forward_turn2(); speed1(ct1,sd1); speed2(ct2,sd2); } //**********小车左转******** void left_turn1(int ct1,int sd1,int ct2,int sd2); { forward_turn1(); forward_turn2(); speed1(ct1,sd1); speed2(ct2,sd2); } //************小车右转********* viod riht_ turn1(int ct1,int sd1,int ct2,int sd2); { forward_turn1(); forward_turn2(); speed1(ct1,sd1); speed2(ct2,sd2); } //**************主函数********** main() { TMOD=ox11; TH0=(65536-1000)/256; TL0=(65536-1000)%256; EA=1; ET0=1; TR0=1; TH1=(65536-1000)/256; TL1=(65536-1000)%256; EA=1; ET1=1; TR1=1; while(1) { if(XL==0XR==0YL==0YR==0) //传感器未检测到直线，小车直行 { advance(count1,500,count2,500); } if(XL==1XR==0YL==0YR==0) //左边内侧传感器检测到黑线，小左转 { Left_turn1(count1,200,count2,500); } if(XL==0XR==0YL==1YR==0) //左边外侧传感器检测到黑线，大左转 { Left_turn1(count1,200,count2,700); } if(XL==0XR==1YL==0YR==0) //右边内侧传感器检测到黑线，小右转 { right_turn1(count1,500,count2,200); } if(XL==0XR==0YL==0YR=1) //右边外侧传感器检测到黑线，大右转 { right_turn1(count1,700,count2,200); } if(XL==1