最新智能循迹小车程序.doc

精品 Word 可修改 欢迎下载 最新 精品 Word 欢迎下载 可修改 精品 Word 可修改 欢迎下载 智能循迹小车，小车按中字笔画行驶 /************“中”字笔画轨迹*************/ #includereg52.h #include intrins.h //内部包含延时函数 _nop_(); #define uchar unsigned char #define uint unsigned int unsigned char dj1=0; unsigned char dj2=0; uchar t=0; uchar num1=0,num2=0,num3=0; sbit HW1=P0^0; //红外对管位定义 sbit HW2=P0^1; sbit HW3=P0^2; sbit HW4=P0^3; sbit ENA=P3^2; //PWM输入 sbit ENB=P3^3; sbit IN5=P2^4; //电机 sbit IN6=P2^5; sbit IN7=P2^6; sbit IN8=P2^7; void delay(uint x) //延时1ms { uint i,j; for(i=0;ix;i++) for(j=0;j120;j++); } void qianjin() //小车前进 { IN5=0; IN6=1; IN7=0; IN8=1; dj1=15; dj2=15; } void turnleft2() //小车前进向左微调 { IN5=0; IN6=1; IN7=0; IN8=1; dj1=7; dj2=20; } void turnright2() //小车前进向右微调 { IN5=0; IN6=1; IN7=0; IN8=1; dj1=20; dj2=7; } void right() { IN5=0; IN6=1; IN7=1; IN8=0; dj1=20; dj2=25; } void left() { IN5=1; IN6=0; IN7=0; IN8=1; dj1=25; dj2=20; } void stop() //小车后退 { dj1=0; dj2=0; } void init() //初始化 { TMOD=0x01; TH0=(65536-500)/256; TL0=(65536-500)%256; EA=1; ET0=1; TR0=1; } void timer0() interrupt 1 using 1 //定时器0中断 { TH0=(65536-500)/256; TL0=(65536-500)%256; t++; if(tdj1) ENA=1; else ENA=0; if(tdj2) ENB=1; else ENB=0; if(t=50) { t=0; } } void main() { init(); while(1) { if(num1==0) { if(HW1==0HW2==1HW3==1HW4==0) { qianjin(); } if(HW1==0HW2==1HW3==0HW4==0) { turnleft2(); } if(HW1==1HW2==1HW3==0HW4==0) { turnleft2(); } if(HW1==1HW2==0HW3==0HW4==0) { turnleft2(); } if(HW1==0HW2==0HW3==1HW4==0) { turnright2(); } if(HW1==0HW2==0HW3==1HW4==1) { turnright2(); } if(HW1==0HW2==0HW3==0HW4==1) { turnright2(); } if(HW1==0HW2==1HW3==1HW4==1) { turnleft2(); } if(HW1==1HW2==1HW3==1HW4==0) { turnright2(); } if(num2==0HW1==0HW2==0HW3==0HW4==0) { delay(500); if(num2==0HW1==0HW2==0HW3==0HW4==0) { stop();