智能小车代码

1、/车轮周长为x,总路程S,总时间t,速度v/ 目前程序都是在理想状态考虑下编写的，还需考虑很多问题：/ 问题有：车走偏,该如何通过软件调整车向,如果车在不该停的时候停车了该怎/ 现在还需解决的是：如何将调速程序与显示程序结合为一个程序,单片机引脚连 #include<REG52.h>#include<absacc.h> #include<math.h> #define uchar unsigned char#define uint unsigned int / 定义电机控制相关功能引脚sbit ENA=P1A4;sbit ENB=PM5;sbit IN1=P

2、1A0;sbit IN2=P1A1;sbit IN3=P1A2;sbit IN4=P1A3;sbit ena=P1A6;sbit enb=P1A7;sbit in1=P2A4;sbit in2=P2A5;sbit in3=P2A6;sbit in4=P2A7;/0x7c,0x39,0x5e,0x79,0x71,0x76/ 定义数码管位选相关引脚sbit PIN0=P2A0;sbit PIN1=P2A1;sbit PIN2=P2A2;sbit PIN3=P2A3;uchar blackline_1,blackline_2; /黑线数uchar m,seco nd,sig n; /分别为路程，时间

3、，速度，50mS变量，秒变量uint distance,time,speed,total_time,p;uchar loop=0;uchar dis4=0x5f,0x44,0x9d,0xcd; /数码管显示缓冲区uchar dis_code13=0xfa,0x22,0xb9,0xab,0x63,0xcb,0xdb,0xa2,0xfb,0xeb,0xf2,0x00; /数码管段码/ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, a,灭*中断服务程序部分*外中断 0服务程序外中断 1 服务程序void intt0(void) interrupt 0 /blackline_1+;voi

4、d intt1(void) interrupt 2 /blackline_2+;TR0=0; TR1=0; / 关定时器和计数器m+; p+;if(m=20)10S做时钟/ 秒计second+;m=0; /50ms 定时， 20 次为 1s,second 为终点线停车 loop=TL1;speed=loop*21; distance+=loop*21; time+;TH1=0;TL1=0; / 每过一秒读取一次计数值，即为速度值(以转 TH0=0x3c;TL0=0xb0; / 重装初值TR0=1; TR1=1; / 开定时器，计数器void delay20ms(void) /50ms 延时，作

5、为电机控制脉宽uchar i,j;for(i=0;i<15;i+)for(j=0;j<120;j+);void delay50ms(void) /50ms 延时，作为电机控制脉宽uchar i,j;for(i=0;i<50;i+)for(j=0;j<120;j+);*显示程序群*void display_init()P0=dis_code0;PIN0=0;PIN1=0;PIN2=0;PIN3=1;void display_cou ntdow n(uchar e) /终点线 10S倒计时函数P0=dis_codee;PIN0=1;PIN1=0;PIN2=0;PIN3=0;

6、void display(uint e) /显示总路程 /总时间uchar i;for(i=0;i<4;i+) disi=e%10;e=e/10;P0=dis_codedis0; PIN0=0;PIN1=0;PIN2=0;PIN3=1; delay20ms();P0=dis_codedis1; PIN0=0;PIN1=0;PIN2=1;PIN3=0; delay20ms();P0=dis_codedis2; PIN0=0;PIN1=1;PIN2=0;PIN3=0; delay20ms();P0=dis_codedis3; PIN0=1;PIN1=0;PIN2=0;PIN3=0; dela

7、y20ms();void display_time(void) / 显示总路程 / 总时间 dis0=total_time%10; dis1=total_time/10; dis2=11; dis3=11;P0=dis_codedis0; PIN0=0;PIN1=0;PIN2=0;PIN3=1; delay20ms();P0=dis_codedis1; PIN0=0;PIN1=0;PIN2=1;PIN3=0; delay20ms();void turn_left(void)ENA=1; ena=1;ENB=1; enb=1;delay50ms();ENA=0; ena=0;ENB=0; enb

8、=0;delay50ms();ENA=1; ena=1;ENB=0; enb=0;delay50ms();ENA=0; ena=0;ENB=0; enb=0;delay50ms();void turn_right(void)ENA=1; ena=1;ENB=1; enb=1;delay50ms();ENA=0; ena=0;ENB=0; enb=0;delay50ms();ENA=0; ena=0;ENB=1; enb=1;delay50ms();ENA=0; ena=0;ENB=0; enb=0;delay50ms();void motor_zhengzhuan(void) / 正转IN1=

9、1;IN2=0;in1=1;in2=0;IN3=1;IN4=0;in3=1;in4=0;void motor_fanzhuan(void) /IN1=0;IN2=1;in1=0;in2=1;IN3=0;IN4=1;in3=0;in4=1;void motor_stop(void) /IN1=1;IN2=1;IN3=1;IN4=1;in1=1;in2=1;in3=1;in4=1;ENA=0; ENB=0;ena=0;enb=0;void motor_start(void)/ENA=1;ENB=1;ena=1;enb=1;void motor_init(void) /IN1=0;IN2=0;IN3

10、=0;IN4=0;in1=0;in2=0;in3=0;in4=0;ENA=0;ENB=0;ena=0;enb=0;void int0_init(void) /EA=1;EX0=1;PX0=1;IT0=1;void timer_init(void) /EA=1;ET0=1;刹车启动反转电机控制引脚初始化外中断 0设置定时器 0初始化TMOD=0x51;TR0=1; /TMOD=0101 0001BET1=1; TH1=0;TL1=0; TR1=1;void bianliang_init(void) / 全局变量初始化distance=0; speed=0; time=0; p=0; sign=0

11、;m=0; blackline_1=0; blackline_2=0; second=0;void speed_display(uchar dat) /调速函数 &&数码管显示函数结合体uchar i,e;e=speed;dis0=e%10;dis1=e/10;dis2=0x00;dis3=0x00;for(i=8;i>0;i-)if(dat&0x80) ENA=1;ENB=1;ena=1;enb=1;else ENA=0;ENB=0;ena=0;enb=0;dat<<=1;if(i%2=0)P0=dis_codedis0; PIN0=0;PIN1=0

12、;PIN2=0;PIN3=1; else P0=dis_codedis1; PIN0=0;PIN1=0;PIN2=1;PIN3=0; delay20ms();if(i-1)%2=0)P0=dis_codedis0; PIN0=0;PIN1=0;PIN2=0;PIN3=1; else P0=dis_codedis1; PIN0=0;PIN1=0;PIN2=1;PIN3=0; delay20ms();void main(void)/ 初始化模块display_init();bianliang_init();int0_init();timer_init();count_init();motor_in

13、it();motor_zhengzhuan();while(second<=4) uchar i=4-second;倒计时显示未到起跑线是加速起跑线全速display_countdown(i); / / 循环控制模块while(1)while(blackline_1=0) / speed_display(0xff);while(blackline_1=1) / speed_display(0xff); while(blackline_1+blackline_2<=2);p=0; while(p<10) if(blackline_1=blackline_2) sign=0;el

14、se if(blackline_1>blackline_2) sign=1; else if(blackline_1<blackline_2) sign=2; if(sign=1) turn_left(); turn_left(); turn_left(); turn_left(); if(sign=2) turn_right(); turn_right(); turn_right(); turn_right();while(blackline_1=2)/到限速线有36M勺距离，故先全速，再中速，然/过渡到低速，从而能在限速线上顺利减速 speed_display(0xff); s

15、peed_display(0xff); speed_display(0xff); speed_display(0xcc); while(blackline_1=2&&blackline_2=2);p=0;while(p<10) if(blackline_1=blackline_2) sign=0; else if(blackline_1>blackline_2) sign=1; else if(blackline_1<blackline_2) sign=2; if(sign=1) turn_left();turn_left();turn_left();turn

16、_left();if(sign=2) turn_right(); turn_right(); turn_right(); turn_right();while(blackline_1=3) / 限速线到达，低速 speed_display(0x88); while(blackline_1=3&&blackline_2=3);p=0;while(p<10) if(blackline_1=blackline_2) sign=0; else if(blackline_1>blackline_2)sign=1;else if(blackline_1<blackline

17、_2)sign=2;if(sign=1) turn_left(); turn_left(); turn_left(); turn_left();if(sign=2) turn_right();turn_right();turn_right();turn_right();while(blackline_1=4) / speed_display(0xff);while(blackline_1=5) / speed_display(0xcc);speed_display(0x88);while(blackline_1!=6); /motor_stop();加速离开限速区中低速结合，便于终点线快速刹车

18、到达终点线，先刹车，再关使能 ENA和ENB关使能在定时器0中1s自增while(second<=10) /10秒倒计时且数码管显示speed_display(0x00); / second=0; /倒计时显示 uchar i=10-second; display_countdown(i); / motor_fanzhuan();speed_display(0xff); /全速倒行while(blackline_1!=7);while(blackline_1=7) speed_display(0xff); while(blackline_1=7&&blackline_2=

19、7);p=0;while(p<10) if(blackline_1=blackline_2) sign=0;else if(blackline_1>blackline_2)sign=1;else if(blackline_1<blackline_2)sign=2;if(sign=1) turn_left();turn_left();turn_left();turn_left();if(sign=2) turn_right();turn_right();turn_right();turn_right();while(blackline_1=8) speed_display(0x

20、ff); speed_display(0xff); speed_display(0xcc); while(blackline_1=8&&blackline_2=8);p=0;while(p<10) if(blackline_1=blackline_2) sign=0;else if(blackline_1>blackline_2) sign=1;else if(blackline_1<blackline_2) sign=2;if(sign=1) turn_left();turn_left();turn_left();turn_left();if(sign=2) turn_right();turn_right();turn_right();turn_right(); while(blackline_1=9) s