超声波避障小车程序设计

1、word/*/ /5路超声波避障实验：51单片机 +  HC-SR04超声波 / /*/            #include <AT89x52.H>  /器件配置文件   #include <intrins.h>    #define  RX1 

2、60;P3_6     /小车左侧超声波HC-SR04接收端   #define  TX1  P1_7     /发送端       #define  RX2  P3_3     /左前方超声波   #define  T

3、X2  P0_2         #define  RX3  P2_4     /正前方超声波   #define  TX3  P2_5    #define  RX4  P3_5     /右前方超

4、声波   #define  TX4  P3_4                #define  RX5  P3_7     /右侧超声波   #define  TX5  P1_6  

5、0;#define Left_moto_pwm   P1_5  /PWM信号端  #define Right_moto_pwm   P1_4   /PWM信号端    /定义小车驱动模块输入IO口   sbit IN1=P10;  sbit IN2=P11;  sbit IN3=P12;  

6、;sbit IN4=P13;  sbit EN1=P14;  sbit EN2=P15;     bit Right_moto_stop=1;  bit Left_moto_stop =1;   #define Left_moto_go      IN1=0,IN2=1,EN1=1;  /左电机向前走

7、0; #define Left_moto_back    IN1=1,IN2=0,EN1=1;  /左边电机向后走  #define Left_moto_Stop    EN1=0;  /左边电机停转               #define Right_moto_g

8、o     IN3=1,IN4=0,EN2=1; /右边电机向前走  #define Right_moto_back   IN3=0,IN4=1,EN2=1; /右边电机向后走 #define Right_moto_Stop   EN2=0; /右边电机停转     unsigned char pwm_val_left 

9、0;=0;/变量定义 unsigned char push_val_left =0;/ 左电机占空比N/20  unsigned char pwm_val_right =0;  unsigned char push_val_right=0;/ 右电机占空比N/20       unsigned int  time=0;  

10、60;  unsigned int  timer=0;       unsigned long S1=0;     unsigned long S2=0;     unsigned long S3=0;     unsigned long S4=0;

11、     unsigned long S5=0;      void delay_1ms(unsigned char x)          /1ms延时函数,100ms以内可用    unsigned char i;  while(x-) 

12、0;for(i=124;i>0;i-);      /*/    void Count1()   /计算左侧超声波距离的函数     while(!RX1);  /当RX1为零时等待   TR0=1;       /开启计数   while(RX1);&

13、#160; /当RX1为1计数并等待   TR0=0;    /关闭计数   time=TH0*256+TL0;   TH0=0;   TL0=0;         S1=(time*1.7)/100;     /算出来是CM     &#

14、160;void Count2()   /计算函数     while(!RX2);  /当RX2为零时等待 TR0=1;       /开启计数   while(RX2);  /当RX2为1计数并等待   TR0=0;    /关闭计数   time=TH0

15、*256+TL0;   TH0=0;   TL0=0;              S2=(time*1.7)/100;     /算出来是CM          void Count3()   /计算函数

16、60;      while(!RX3);  /当RX3为零时等待    TR0=1;       /开启计数    while(RX3);  /当RX3为1计数并等待    TR0=0;    /关闭计数    time=TH0

17、*256+TL0;    TH0=0;    TL0=0;           S3=(time*1.7)/100;     /算出来是CM         void Count4()   /计算函数  

18、60;    while(!RX4);  /当RX4为零时等待  TR0=1;       /开启计数    while(RX4);  /当RX4为1计数并等待    TR0=0;    /关闭计数   time=TH0*256+TL0;   

19、60;TH0=0;    TL0=0;               S4=(time*1.7)/100;     /算出来是CM         void Count5()   /计算函数   

20、60; while(!RX5);  /当RX5为零时等待  TR0=1;       /开启计数   while(RX5);  /当RX5为1计数并等待  TR0=0;    /关闭计数   time=TH0*256+TL0;   TH0=0;   TL0=0; 

21、60;         S5=(time*1.7)/100;     /算出来是CM  void leftrun(void)       push_val_left=20;       push_val_right=20;    Left_moto_

22、back  /左电机往后走  Right_moto_go  /右电机往前走   /*/  /右转  void rightrun(void)       push_val_left=20;       push_val_right=20;  Left_moto_go  /左电机往前

23、走  Right_moto_back  /右电机往后走   /*/  /停止  void stoprun(void)    Left_moto_Stop  /左电机停  Right_moto_Stop  /右电机停       /*/ /*     

24、               PWM调制电机转速                                 

25、60; */ /*/  /*                    左电机调速                       

26、60;                */ /*调节push_val_left的值改变电机转速,占空比            */    void pwm_out_left_moto(void)     

27、60;    if(Left_moto_stop)                    if(pwm_val_left<=push_val_left)                  

28、60;   Left_moto_pwm=1;                   else                        &

29、#160;Left_moto_pwm=0;               if(pwm_val_left>=20)         pwm_val_left=0;            else   

30、60;                           Left_moto_pwm=0;                /*/ /*  

31、             右电机调速                                  */  

32、;     void pwm_out_right_moto(void)       if(Right_moto_stop)            if(pwm_val_right<=push_val_right)           

33、        Right_moto_pwm=1;         else                 Right_moto_pwm=0;         

34、0;  if(pwm_val_right>=20)          pwm_val_right=0;          else                    &#

35、160;        Right_moto_pwm=0;                      /*/      void timer0() interrupt 1   &#

36、160;/T0中断             /*/   /*TIMER1中断效劳子函数产生PWM信号*/    void timer1()interrupt 3     TH1=(65536-1000)/256;  /1ms定时  TL1=(65536-1000)%256; &#

37、160; timer+;   pwm_val_left+;   pwm_val_right+;   pwm_out_left_moto();   pwm_out_right_moto();         /*  */   void  main(void)    

38、60;      TMOD=0x11;     /设T0为方式1，GATE=1； TH0=0;  TL0=0;            TH1=(65536-1000)/256;  /1ms定时  TL1=(65536-1000)%256;  ET0=1;  &

39、#160;          /允许T0中断  ET1=1;      /允许T1中断  TR1=1;      /开启定时器  EA=1;      /开启总中断   while(1)   

40、0;         TX1=1;     /开启超声波1探测   delay_1ms(1);   TX1=0;      Count1();   /测距        TX2=1;   delay_

41、1ms(1);   TX2=0;      Count2();           TX3=1;   delay_1ms(1);   TX3=0;       Count3();         TX4=1;   delay_1ms(1);   TX4=0;      Count4();              TX5=1;   delay_1ms(1);