基于51单片机的智能小车控制源代码(毕业设计).docx

/*/*/ 智能小车控制器基于51单片机实现前进后退转弯与智能采样控制功能#include #includeunsigned int tata8;unsigned char flag=0,flag2=0,flag3=0,n,m;unsigned int Angle,q,length,temp1;sbit A1=P32;sbit A2=P33;sbit B1=P34;sbit B2=P35;sbit ENA=P36;sbit ENB=P37;sbit red1=P13;sbit red2=P16;void InitUART(void) TMOD = 0x20; SCON = 0x50; TH1 = 0xFD; TL1 = TH1; PCON = 0x00; ES = 1; TR1 = 1;EA = 1;ENA = 1;ENB = 1;void delay(void) /直线延时延时函数 unsigned char a,b; for(b=255;b0;b-) for(a=38;a0;a-);void delay1(void) /转角延时函数 unsigned char w,y,c; for(c=1;c0;c-) for(y=97;y0;y-) for(w=3;w0;w-);void delay3(void) /避障延时函数 unsigned char a,b,c; for(c=98;c0;c-) for(b=100;b0;b-) for(a=40;a0;a-);void delay2(void) /手动控制延时函数 unsigned char a,b,c; for(c=98;c0;c-) for(b=15;b0;b-) for(a=17;a0;a-)if(m)break;void qianjin() /前进unsigned char f;A1=1;A2=0;B1=1;B2=0;for(f=0;f155;f+)A1=0;A2=0;B1=0;B2=1; /直线校准语句A1=1;A2=0;B1=1;B2=0;void zuozhuan()/左转A1=1;A2=0;B1=0;B2=1;void youzhuan()/右转A1=0;A2=1;B1=1;B2=0;void houtui()A1=0;A2=1;B1=0;B2=1;void tingzhi()A1=0;A2=0;B1=0;B2=0;void main()unsigned char temp;InitUART();while(1)if(flag)flag=0;for(temp=2;temp8;temp+) /字符型转成整型函数tatatemp=tatatemp%16;/执行转角指令Angle=10*(tata2*100+tata3*10+tata4);m=0;if(Angle10) /地面小角度摩擦校正函数Angle+;if(tata1=L)for(q=0;qAngle;q+) zuozhuan();delay1();if(m)break;else if(tata1=R)for(q=0;qAngle;q+) youzhuan();delay1();if(m)break;tingzhi();delay();for(temp=2;temp8;temp+) /字符型转成整型函数tatatemp=tatatemp%16;/执行前进指令length=100*(tata5*100+tata6*10+tata7);/m=0;if(!m)for(q=0;qlength;q+) qianjin();delay();delay();if(m)break;if(!red1)delay1();if(!red1)youzhuan();delay3();while(!red1);if(!red2)delay1();if(!red2)zuozhuan();delay3();while(!red2); if(!red1)|(!red2)houtui();delay3();while(!red1)|(!red2);if(flag3)m=0;flag3=0;if(tata1 =W)qianjin(); else if(tata1=A)A1=0;A2=0;B1=0;B2=1;else if(tata1=S)houtui();else if(tata1=D)A1=0;A2=1;B1=0;B2=0;else if(tata1=T)tingzhi(); delay2();tingzhi();void UARTInterrupt(void) interrupt 4 if(RI) m=1; RI = 0;if(SBUF=$