基于51单片机智能小车循迹程序

1、#include <reg51.h>#include <stdio.h>#define uint unsigned int#define uchar unsigned char/*/ uchar led_data9=0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82, 0xf8,0x80; uchar circle=0,cir_comp=0,cir_count=0;/设定圈数，实际圈数 uchar turn_count=0; bit end=0; /圈数跑完标志/*/sbit xg0=P10;/左寻轨对管sbit xg1=P11;/中间寻轨对管sbit

2、 xg2=P12;/右寻轨对管sbit xz=P13;/感应挡板对管/*/sbit Q_IN1=P20; /车前左轮控制 sbit Q_IN2=P21;sbit Q_IN3=P22; /车前右轮控制sbit Q_IN4=P23; sbit H_IN1=P24; /车尾左轮控制sbit H_IN2=P25;sbit H_IN3=P26; /车尾右轮控制sbit H_IN4=P27;sbit Q_ENA=P30; /车前左轮使能，PWMsbit Q_ENB=P31; /车前右轮使能，sbit H_ENA=P36; /车尾左轮使能，sbit H_ENB=P37; /车尾右轮使能，/*/#define

3、 stra_q_l 100 /直线行走时，四个轮子占空比调试#define stra_q_r 100#define stra_h_l 100#define stra_h_r 100#define turn_q_l 100 /转弯时四个轮子的占空比调试#define turn_q_r 100#define turn_h_l 100#define turn_h_r 100 #define turnr_time 2900/右转弯时的延时常数#define turnl_time 3000 /左转弯时的延时常数#define dt_time 5800 /原地掉头时延时常数#define over_tim

4、e 1000 /停止延时#define back_time 2500 /走完环形，回到直道延时转弯#define black_time 1500 /过黑线的时间#define correct_l_time 700 /左矫正时间#define correct_r_time 700 /右矫正时间#define hou_time 200/*/ uchar q_duty_l,q_duty_r,h_duty_l,h_duty_r,/车前后左右轮占空比 i=0,j=0,k=0,m=0;/*/ void delay_cir(uint n) uchar x; while(n-) for(x=0; x<2

5、50;x+); ; /*/void delay(uint ct)/ 延时函数 uint t; t=ct; while(t-);/*/void straight() /直走 q_duty_l=stra_q_l; q_duty_r=stra_q_r; h_duty_l=stra_h_l; h_duty_r=stra_h_r; Q_IN1=1; Q_IN2=0; Q_IN3=1; Q_IN4=0; H_IN1=1; H_IN2=0; H_IN3=1; H_IN4=0; /*/void houtui()/后退 q_duty_l=stra_q_l; q_duty_r=stra_q_r; h_duty_l

6、=stra_h_l; h_duty_r=stra_h_r; Q_IN1=0; Q_IN2=1; Q_IN3=0; Q_IN4=1; H_IN1=0; H_IN2=1; H_IN3=0; H_IN4=1; /*/void turn_left()/左转 q_duty_l=turn_q_l; q_duty_r=turn_q_r; h_duty_l=turn_h_l; h_duty_r=turn_h_r; Q_IN1=0; /左轮反转 Q_IN2=1; H_IN1=0; H_IN2=1; Q_IN3=1; /右轮正转 Q_IN4=0; H_IN3=1; H_IN4=0; delay(turnl_tim

7、e);/*/void turn_right() /右转 q_duty_l=turn_q_l; q_duty_r=turn_q_r; h_duty_l=turn_q_l; h_duty_r=turn_q_r; Q_IN1=1; /左轮正转 Q_IN2=0; H_IN1=1; H_IN2=0; Q_IN3=0;/右轮反转 Q_IN4=1; H_IN3=0; H_IN4=1; delay(turnr_time);/*/void turn_round() /原地掉头 q_duty_l=turn_q_l; q_duty_r=turn_q_r; h_duty_l=turn_h_l; h_duty_r=tu

8、rn_h_r; Q_IN1=0; /左轮反转 Q_IN2=1; H_IN1=0; H_IN2=1; Q_IN3=1; /右轮正转 Q_IN4=0; H_IN3=1; H_IN4=0; delay(dt_time);/*/void over() /小车停止 Q_IN1=0; Q_IN2=0; Q_IN3=0; Q_IN4=0; H_IN1=0; H_IN2=0; H_IN3=0; H_IN4=0; /*/void correct_right() /左偏，向右矫正 q_duty_l=turn_q_l; q_duty_r=turn_q_r; h_duty_l=turn_q_l; h_duty_r=t

9、urn_q_r; Q_IN1=1; /左轮正转 Q_IN2=0; H_IN1=1; H_IN2=0; Q_IN3=0;/右轮反转 Q_IN4=1; H_IN3=0; H_IN4=1; delay(correct_r_time);void correct_left() /右偏，向左矫正 q_duty_l=turn_q_l; q_duty_r=turn_q_r; h_duty_l=turn_h_l; h_duty_r=turn_h_r; Q_IN1=0; /左轮反转 Q_IN2=1; H_IN1=0; H_IN2=1; Q_IN3=1; /右轮正转 Q_IN4=0; H_IN3=1; H_IN4=

10、0; delay(correct_l_time);/*/void xunji() if(xg1=1) turn_count+;over();delay(over_time);if(turn_count=1)straight(); delay(black_time);elseif(turn_count=2)houtui(); delay(hou_time); turn_left();elseif(turn_count=3)houtui(); delay(hou_time); turn_right();elseif(turn_count=4)houtui(); delay(hou_time); t

11、urn_right();elseif(turn_count=5)straight(); delay(black_time);elseif(turn_count=6)houtui(); delay(hou_time); turn_right();elseif(turn_count=7)houtui(); delay(hou_time); turn_right(); straight(); delay(back_time); turn_left();elseif(turn_count=8)straight(); delay(black_time);elseif(turn_count=9)houtu

12、i(); delay(100); turn_round(); if(turn_count>=9)turn_count=0; cir_count+; circle-;if(cir_count=cir_comp) end=1; over(); delay(500); else if(xg0=0)&&(xg1=0)&&(xg2=0) straight(); else if(xg0=1)&&(xg1=0)&&(xg2=0) over(); delay(over_time); houtui(); delay(hou_time); co

13、rrect_right(); /左偏，向右矫正 else if(xg0=0)&&(xg1=0)&&(xg2=1) over(); delay(over_time); houtui(); delay(hou_time); correct_left(); /右偏，向左矫正 /*/void int0(void) interrupt 0/中断圈数设定 EX0=0; delay_cir(250); circle+; cir_comp+; if(circle>8) circle=0; cir_comp=0; P0=led_datacircle; EX0=1;/*/vo

14、id time1(void) interrupt 3 /T1溢出中断，电机调速 i+; j+; k+; m+; if(i<q_duty_l) Q_ENA=1; else Q_ENA=0; if(i>100) Q_ENA=1;i=0; if(j<q_duty_r) Q_ENB=1; else Q_ENB=0; if(j>100 ) Q_ENB=1;j=0; if(k<h_duty_l) H_ENA=1; else H_ENA=0; if(k>100) H_ENA=1;k=0; if(m<h_duty_r) H_ENB=1; else H_ENB=0; if(m>100) H_ENB=1;m=0; P0=led_datacircle; TH1=0XFF; TL1=0XF6; /*/void mai