51单片机智能小车寻循迹代码

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51单片机智能小车寻循迹代码

2024-01-30 16:21| 来源: 网络整理| 查看: 265

小车可以实现循迹（可以过直角，弯路，前进后退等情况以及PWNM调速等）

如想了解接线的请私聊作者

由于小车的情况比较复杂要考虑的东西很多，有时候接线不合适都跑不起来

如果遇到问题请私聊作者

话不多说直接上代码吧：

//以下为代码段 #include"reg51.h" #include "intrins.h" typedef unsigned int u16; typedef unsigned char u8; sbit HIN1=P1^4;// P1.0Êä³öpwm sbit HIN2=P3^0;// P1.1Êä³öpwm sbit HIN3=P1^6;// P1.2Êä³öpwm sbit HIN4=P1^7;// P1.3Êä³öpwm sbit QIN1=P1^0;// P1.4Êä³öpwm sbit QIN2=P1^1;// P1.5Êä³öpwm sbit QIN3=P1^2;// P1.6Êä³öpwm sbit QIN4=P1^3;// P1.7Êä³öpwm sbit IRIN=P3^2; // ºìÍâ¿ÚÎª3.2 ÖÐ¶Ï0 sbit k1=P2^0; //Ñ°¼£Ä£¿ék1Î» sbit k2=P2^1; //Ñ°¼£Ä£¿ék2Î» sbit k3=P2^2; //Ñ°¼£Ä£¿ék3Î» sbit k4=P2^4; //Ñ°¼£Ä£¿ék4Î» sbit k5=P2^5; //Ñ°¼£Ä£¿ék5Î» u8 time,i; u16 count,count2,count3,count4; //pwmÕ¼¿Õ±È£¨ËÙ¶È´óÐ¡£© //u8 z=0, x=0; /********»ù±¾ÑÓÊ±º¯Êý*******/ void delay(int u) { while(u--); } void minrun() { count=30; count2=30; count3=0; count4=0; } void run() { count=35; count2=35; count3=0; count4=0; } void right() { count=0;//ÓÒ×ª count2=40;//zouÕý´« count3=60;//you·´ count4=0; } void Lefet() { count=30; count2=0; count3=0; count4=50; } void back() { count=0; count2=0; count3=50; count4=50; } void stop() { count=0; count2=0; count3=0; count4=0; } void Lefet1() { count=60; count2=0; count3=0; count4=40; } void lefet_1() { count=60;// count2=0; count3=0; count4=40; } void right_1() { count=0; count2=60; count3=40; count4=0; } void lefet_2() { count=65; count2=0; count3=0; count4=40; } void right_2() { count=0; count2=40; count3=60; count4=0; } void xunji() { u8 m; if(k1==1&&k2==1&&k4==1&&k4==1&&k5==1)//Ã»ÓÐ¼ì²âµ½ºÚÏß {m=0;} if(k1==1&&k2==1&&k3==0&&k4==1&&k5==1)//ÖÐ¼ä¼ì²âµ½ºÚÏß {m=1;} if(k1==1&&k2==0&&k3==1&&k4==1&&k5==1)//Î¢µ÷ ×ó {m=2;} if(k1==1&&k2==1&&k3==1&&k4==0&&k5==1)//Î¢µ÷ ÓÒ {m=3;} if(k1==0&&k2==1&&k3==1&&k4==1&&k5==1)// {m=4;} if(k1==1&&k2==1&&k3==1&&k4==1&&k5==0)//´ó·ùÓÒ×ª {m=5;} if(k1==0&&k3==0&&k4==1&&k5==1)//Ö±½Ç ×ó {m=6;} if(k1==1&&k2==1&&k3==0&&k5==0)//Ö±½Ç ÓÒ {m=7;} /* if(k1==0&&k2==0&&k3==1&&k4==1&&k5==1) {m=8;} if(k1==1&&k2==1&&k3==1&&k4==0&&k5==0) {m=9;} if(k1==1&&k2==1&&k3==1&&k4==1&&k5==0) {m=10;} */ switch(m) { //case (0):lefet_2();break; case (1):run();break; case (2):Lefet();delay(200);break;//Î¢µ÷ case (3):right();delay(200);break;//Î¢µ÷ //case (4):Lefet1();delay(900);break;//´ó·ù×ó×ª //case (5):right();delay(900);break;//´ó·ù¶ÈÓÒ×ª case (6):lefet_1();delay(900);break;//Ö±½Ç ×ó×ª case (7):right_1();delay(900);break;//Ö±½Ç ÓÒ×ª //case (8):lefet_2();delay(200);break; //case (9):right_2();delay(200);break; //case (10):right_2();delay(900);break; //default :run();delay(500);stop();break; } } /******************* * ¹¦ÄÜ£º´ò¿ªÐèÒªÓÃµ½µÄÖÐ¶Ï * ÓÃµ½µÄÖÐ¶Ï£º¶¨Ê±Æ÷0¡¢1 ¹¤×÷·½Ê½1 16Î»¶¨Ê±Æ÷Ä£Ê½ * Íâ²¿ÖÕ¶Ë0 *********************/ void timer() { TMOD=0x11;//¶¨Ê±Æ÷0¹¤×÷·½Ê½1 TH0=0xff;//(65536-10)/256;//¸³³õÖµ¶¨Ê± TL0=0xf7;//(65536-10)%256;//0.01ms TH1=0; TL1=0; EA=1;//¿ª×ÜÖÐ¶Ï ET0=1;//¿ª¶¨Ê±Æ÷0ÖÐ¶Ï ET1=1; TR0=1;//Æô¶¯¶¨Ê±Æ÷0 IT0=1; EX0=1; IRIN=1; } /*******Ö÷º¯Êý********/ void main() { timer(); //µ÷ÓÃÖÐ¶Ï´ò¿ªº¯Êý while(1) { xunji(); //back(); //run(); //Lefet(); //right(); // delay(3000); //xunji(); } } /****¶¨Ê±Æ÷0Òç³öÀûÓÃpwmµ÷4¸öµç»úµÄËÙ¶È***/ void tim0() interrupt 1 { //TR0=0;//¸³³õÖµÊ±£¬¹Ø±Õ¶¨Ê±Æ÷ TH0=0xff;//(65536-10)/256;//¸³³õÖµ¶¨Ê± TL0=0xf7;//(65536-10)%256;//0.01ms£¬ÒòÎªÒ»¸öÖÜÆÚ1us //TR0=1;//´ò¿ª¶¨Ê±Æ÷ i++; if(i>=100) //1khz i=0; if(i count=30; count2=30; count3=0; count4=0; }

void run() { count=35; count2=35; count3=0; count4=0; }

void right() { count=0;//ÓÒ×ª count2=40;//zouÕý´« count3=60;//you·´ count4=0;

}

void Lefet() { count=30; count2=0; count3=0; count4=50; }

void back() { count=0; count2=0; count3=50; count4=50; }

void stop() { count=0; count2=0; count3=0; count4=0;

}

void Lefet1() { count=60; count2=0; count3=0; count4=40; }

void lefet_1() { count=60;// count2=0; count3=0; count4=40; }

void right_1() { count=0; count2=60; count3=40; count4=0;

}

void lefet_2() { count=65; count2=0; count3=0; count4=40; } void right_2() { count=0; count2=40; count3=60; count4=0;

}

void xunji() { u8 m; if(k1==1&&k2==1&&k4==1&&k4==1&&k5==1)//Ã»ÓÐ¼ì²âµ½ºÚÏß {m=0;} if(k1==1&&k2==1&&k3==0&&k4==1&&k5==1)//ÖÐ¼ä¼ì²âµ½ºÚÏß {m=1;} if(k1==1&&k2==0&&k3==1&&k4==1&&k5==1)//Î¢µ÷ ×ó {m=2;} if(k1==1&&k2==1&&k3==1&&k4==0&&k5==1)//Î¢µ÷ ÓÒ {m=3;} if(k1==0&&k2==1&&k3==1&&k4==1&&k5==1)// {m=4;} if(k1==1&&k2==1&&k3==1&&k4==1&&k5==0)//´ó·ùÓÒ×ª {m=5;} if(k1==0&&k3==0&&k4==1&&k5==1)//Ö±½Ç ×ó {m=6;} if(k1==1&&k2==1&&k3==0&&k5==0)//Ö±½Ç ÓÒ {m=7;} /* if(k1==0&&k2==0&&k3==1&&k4==1&&k5==1) {m=8;} if(k1==1&&k2==1&&k3==1&&k4==0&&k5==0) {m=9;} if(k1==1&&k2==1&&k3==1&&k4==1&&k5==0) {m=10;} */ switch(m) { //case (0):lefet_2();break; case (1):run();break; case (2):Lefet();delay(200);break;//Î¢µ÷ case (3):right();delay(200);break;//Î¢µ÷ //case (4):Lefet1();delay(900);break;//´ó·ù×ó×ª //case (5):right();delay(900);break;//´ó·ù¶ÈÓÒ×ª case (6):lefet_1();delay(900);break;//Ö±½Ç ×ó×ª case (7):right_1();delay(900);break;//Ö±½Ç ÓÒ×ª //case (8):lefet_2();delay(200);break; //case (9):right_2();delay(200);break; //case (10):right_2();delay(900);break; //default :run();delay(500);stop();break; } }

/******************* * ¹¦ÄÜ£º´ò¿ªÐèÒªÓÃµ½µÄÖÐ¶Ï * ÓÃµ½µÄÖÐ¶Ï£º¶¨Ê±Æ÷0¡¢1 ¹¤×÷·½Ê½1 16Î»¶¨Ê±Æ÷Ä£Ê½ * Íâ²¿ÖÕ¶Ë0 *********************/ void timer() { TMOD=0x11;//¶¨Ê±Æ÷0¹¤×÷·½Ê½1 TH0=0xff;//(65536-10)/256;//¸³³õÖµ¶¨Ê± TL0=0xf7;//(65536-10)%256;//0.01ms TH1=0; TL1=0; EA=1;//¿ª×ÜÖÐ¶Ï ET0=1;//¿ª¶¨Ê±Æ÷0ÖÐ¶Ï ET1=1; TR0=1;//Æô¶¯¶¨Ê±Æ÷0 IT0=1; EX0=1; IRIN=1; }

/*******Ö÷º¯Êý********/ void main() { timer(); //µ÷ÓÃÖÐ¶Ï´ò¿ªº¯Êý

while(1) { xunji(); //back(); //run(); //Lefet(); //right(); // delay(3000); //xunji(); } }

/****¶¨Ê±Æ÷0Òç³öÀûÓÃpwmµ÷4¸öµç»úµÄËÙ¶È***/ void tim0() interrupt 1 { //TR0=0;//¸³³õÖµÊ±£¬¹Ø±Õ¶¨Ê±Æ÷ TH0=0xff;//(65536-10)/256;//¸³³õÖµ¶¨Ê± TL0=0xf7;//(65536-10)%256;//0.01ms£¬ÒòÎªÒ»¸öÖÜÆÚ1us //TR0=1;//´ò¿ª¶¨Ê±Æ÷ i++; if(i>=100) //1khz i=0; if(i QIN2=1; HIN4=1; }

if(i QIN1=1; HIN3=1; } if(i

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51单片机智能小车寻循迹代码

51单片机智能小车寻循迹代码

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