51循跡小車_單片機

給女朋友調的循跡車。。。

/********************************************************************************* 檔案名稱：main.c* 描  述：尋跡小車* 作  者：劉悅* 版本號碼：v1.2* 日  期: 2018年5月11日* 備  註：注意了，所有的左右都是感應器位於自己前方看的。********************************************************************************/#include <stc12.h>//關於尋跡、藍芽，取消哪個宏定義表示選擇哪項模式#define TRACE#define BLUETOOTH//電機引腳定義sbit MotorRight_P = P1^0;//右電機正相sbit MotorRight_N = P1^1;//右電機反相sbit MotorLeft_P  = P1^2;//左電機正相sbit MotorLeft_N  = P1^3;//左電機反相//紅外感應器檢測引腳定義//左右的序號分別從中間往兩邊開始1.2sbit Left1   = P1^7;sbit Left2   = P1^4;sbit Right1  = P1^6;    sbit Right2  = P1^5;//資料類型定義typedef unsigned char u8;typedef unsigned int  u16;typedef unsigned long u32;//電機運動相關的宏定義#define MotorLeft_Go()    {MotorLeft_P =1; MotorLeft_N =0;}//左電機正轉#define MotorLeft_Back()  {MotorLeft_P =0; MotorLeft_N =1;}//左電機反轉#define MotorLeft_Stop()  {MotorLeft_P =0; MotorLeft_N =0;}//左電機停止#define MotorRight_Go()   {MotorRight_P=1; MotorRight_N=0;}//右電機正轉#define MotorRight_Back() {MotorRight_P=0; MotorRight_N=1;}//右電機反轉#define MotorRight_Stop() {MotorRight_P=0; MotorRight_N=0;}//右電機停止//函式宣告void GoStaright();void Back();void TurnAdvanceLeft();void TurnAdvanceRight();void TurnNormalLeft();void TurnNormalRight();void Stop();void Timer0Init(void);void UartInit(void);void main(){    u8 TypeFlag=2; //左強拐-0 左普拐-1 直走-2 右普拐-3 右強拐-4    char ch;    EA = 1;    Timer0Init();    UartInit();    while(1)    {       //藍芽模式      #ifdef BLUETOOTH//藍芽        if(RI)        {            RI = 0;            ch = SBUF;        }        if(ch == 'g') GoStaright();        else if(ch == 'b') Back();        else if(ch == 'l') TurnNormalLeft();        else if(ch == 'r') TurnNormalRight();//      else Stop(); #endif//尋跡模式#ifdef TRACE        //另一種方案        else if((Left2==1)&&(Left1==1)&&(Right1==1)&&(Right2==1))        //if((Left2==1)&&(Left1==1)&&(Right1==1)&&(Right2==1))        {            TurnNormalRight();            TypeFlag = 3;        }        //直行        else if((Left2==0)&&(Left1==1)&&(Right1==1)&&(Right2==0))        {            GoStaright();            TypeFlag = 2;        }        else if((Left2==0)&&(Left1==0)&&(Right1==1)&&(Right2==0))        {            GoStaright();            TypeFlag = 2;        }        else if((Left2==0)&&(Left1==1)&&(Right1==0)&&(Right2==0))        {            GoStaright();            TypeFlag = 2;        }        //左轉        else if((Left2==1)&&(Left1==1)&&(Right1==1)&&(Right2==0))        {            TurnAdvanceLeft();            TypeFlag = 0;        }        else if((Left2==1)&&(Left1==0)&&(Right1==0)&&(Right2==0))        {                   TurnAdvanceLeft();            TypeFlag = 0;        }        else if((Left2==1)&&(Left1==1)&&(Right1==0)&&(Right2==0))        {            TurnNormalLeft();            TypeFlag = 1;         }        else if((Left2==1)&&(Left1==0)&&(Right1==1)&&(Right2==0))        {            TurnAdvanceLeft();            TypeFlag = 0;        }        //右轉        else if((Left2==0)&&(Left1==1)&&(Right1==1)&&(Right2==1))        {            TurnAdvanceRight();            TypeFlag = 4;        }        else if((Left2==0)&&(Left1==0)&&(Right1==0)&&(Right2==1))        {            TurnAdvanceRight();            TypeFlag = 4;        }        else if((Left2==0)&&(Left1==1)&&(Right1==0)&&(Right2==1))        {            TurnAdvanceRight();            TypeFlag = 4;        }        else if((Left2==0)&&(Left1==0)&&(Right1==1)&&(Right2==1))        {            TurnNormalRight();            TypeFlag = 3;        }        //都沒檢測到時，為防止車抖動，可繼續執行上次的動作        else if((Left2==0)&&(Left1==0)&&(Right1==0)&&(Right2==0))        {            if(TypeFlag == 0)            {                TurnAdvanceLeft();            }            else if(TypeFlag == 1)            {                TurnNormalLeft();            }            else if(TypeFlag == 2)            {                GoStaright();            }            else if(TypeFlag == 3)            {                TurnNormalRight();            }            else if(TypeFlag == 4)            {                TurnAdvanceRight();            }        }        //其餘所有情況均直行        else        {            GoStaright();        }#endif    }}void UartInit(void)     //4800bps@12.000MHz{    PCON |= 0x80;       //使能傳輸速率倍速位SMOD    SCON = 0x50;        //8位元據,可變傳輸速率//  AUXR &= 0xBF;       //定時器1時鐘為Fosc/12,即12T//  AUXR &= 0xFE;       //串口1選擇定時器1為傳輸速率發生器    TMOD &= 0x0F;       //清除定時器1模式位    TMOD |= 0x20;       //設定定時器1為8位自動重裝方式    TL1 = 0xF3;     //設定定時初值    TH1 = 0xF3;     //設定定時器重裝值    ET1 = 0;        //禁止定時器1中斷    TR1 = 1;        //啟動定時器1}void Timer0Init(void)       //10微秒@12.000MHz{//  AUXR &= 0x7F;       //定時器時鐘12T模式    TMOD &= 0xF0;       //設定定時器模式    TMOD |= 0x01;       //設定定時器模式    TL0 = 0xF6;     //設定定時初值    TH0 = 0xFF;     //設定定時初值    TF0 = 0;        //清除TF0標誌    ET0 = 1;  //關閉定時器0中斷    TR0 = 1;        //定時器0開始計時}void GoStaright(){    static unsigned char Clck = 0;    u16  OutPWM_L=12,OutPWM_R=15;    TL0 = 0xF6;     //設定定時初值    TH0 = 0xFF;     //設定定時初值           if(Clck++ >= 100) Clck = 0;//100us   +1   1ms清零一次    if(Clck<OutPWM_L)    {           MotorLeft_Go();    }    else    {        MotorLeft_Stop();    }    if(Clck<OutPWM_R)    {        MotorRight_Go();        }    else     {        MotorRight_Stop();      }   }void Back(){    static unsigned char Clck = 0;    u16  OutPWM_L=12,OutPWM_R=15;    TL0 = 0xF6;     //設定定時初值    TH0 = 0xFF;     //設定定時初值           if(Clck++ >= 100) Clck = 0;//100us   +1   1ms清零一次    if(Clck<OutPWM_L)    {           MotorLeft_Back();    }    else    {        MotorLeft_Stop();    }    if(Clck<OutPWM_R)    {        MotorRight_Back();      }    else     {        MotorRight_Stop();      }       }void TurnAdvanceRight(){    static unsigned char Clck = 0;    u16  OutPWM_L=15,OutPWM_R=15;    TL0 = 0xF6;     //設定定時初值    TH0 = 0xFF;     //設定定時初值           if(Clck++ >= 100) Clck = 0;//100us   +1   1ms清零一次    if(Clck<OutPWM_L)    {           MotorLeft_Go();    }    else    {        MotorLeft_Stop();    }    if(Clck<OutPWM_R)    {        MotorRight_Back();      }    else     {        MotorRight_Stop();      }}void TurnAdvanceLeft(){    static unsigned char Clck = 0;    u16  OutPWM_L=15,OutPWM_R=15;    TL0 = 0xF6;     //設定定時初值    TH0 = 0xFF;     //設定定時初值           if(Clck++ >= 100) Clck = 0;//100us   +1   1ms清零一次    if(Clck<OutPWM_L)    {           MotorLeft_Back();    }    else    {        MotorLeft_Stop();    }    if(Clck<OutPWM_R)    {        MotorRight_Go();        }    else     {        MotorRight_Stop();      }}void TurnNormalRight(){    static unsigned char Clck = 0;    u16  OutPWM_L=15,OutPWM_R=15;    TL0 = 0xF6;     //設定定時初值    TH0 = 0xFF;     //設定定時初值           if(Clck++ >= 100) Clck = 0;//100us   +1   1ms清零一次    if(Clck<OutPWM_L)    {           MotorLeft_Go();    }    else    {        MotorLeft_Stop();    }       MotorRight_Stop();  }void TurnNormalLeft(){    static unsigned char Clck = 0;    u16  OutPWM_L=15,OutPWM_R=15;    TL0 = 0xF6;     //設定定時初值    TH0 = 0xFF;     //設定定時初值           if(Clck++ >= 100) Clck = 0;//100us   +1   1ms清零一次    MotorLeft_Stop();    if(Clck<OutPWM_R)    {        MotorRight_Go();        }    else     {        MotorRight_Stop();      }}void Stop(){    MotorLeft_Stop();    MotorRight_Stop();}