循迹避障小车程序

1、/*循迹避障小车程序/*dragon #include #define uchar unsigned char#define uint unsigned intuchar count0 = 0;/低电平的占空比 uchar count1 = 0;/高电平的占空比uchar count = 0; /0.1ms 次数标识 uchar jd,time; 角度标识uchar yz = 0; /遇障标志 uint distance,t;sbit Trig=P3A0; /控制端超声波sbit Echo=P3A2;接收端sbit pwm = P1A1; 舵机控制信号sbit rclf = P3A6; /循迹

2、红外sbit rcrt = P3A7;sbit jz = P3A5;sbit PWM1=P1A4;/PWM 通道 1，反转脉冲 sbit PWM2=P1A3;/PWM 通道 2，正转脉冲 sbit PWM3=P1A6;/PWM 通道 3，反转脉冲 sbit PWM4=P1A5;/PWM 通道 4，正转脉冲/* 延时 1ms*/void delay(uint x)uchar i,j;for(i=0;ix;i+)for(j=0;j110;j+);电机运行void Motor_run(void) PWM1 = 1;if(+count1 = 100)count1 = 0;/* 红外探测部分 *void

3、 ir_ch(void)if(jz = 1)jd = 14;count0 = 80 ;if(rclf = 1 & rcrt = 0 & jd = 14) | (rclf = 1 & jz = 1)count0 = 70 ;jd = 13;if(rcrt = 1 & rclf = 0 & jd = 13) | (rcrt = 1 & jz = 1)count0 = 90 ;jd = 15;if(rcrt = 1 & rclf = 0 & jd = 14) | (rcrt = 1 & jz = 1)count0 = 90 ;jd = 15;if(rclf = 1 & rcrt = 0 & jd =

4、 15) | (rclf = 1 & jz = 1)count0 = 90 ;jd= 13;/* 超声波*/* 延时 1us*/ void delay_us(uchar m ) while(m-); void ceju(void)Trig=1;发射置高delay_us(15); /延时 10us Trig=0;发射置低/while(Echo=0); 等待接收端准备接收TR0=1;启动定时器0/while(Echo=1); 等待接收端接收 delay(3); /等待处理数据 void panduan(void)uint n;if(distance245)yz = 1;for(n=0;n7000;

5、n+)jd = 13;Motor_run(); elseif(yz = 1)jd = 15;yz = 0;else ir_ch();/*定时器1舵机void timer0init(void) / 1 初始化TMOD = 0X19; /定时器1工作1定时器1工作1TH1 = 0Xff; /高第八位清零TL1=0Xa0;TH0=0;TL0=0;EA = 1; /打开全局中断允许位(中断允许寄存器IE)TR1 = 1; /寄存器TCON,置一启动定时器0ET1 = 1; /允许定时器1中断ET0 = 1; /允许定时器1中断IT0=1;/下降沿触发EX0=1;/外部中断0允许中断/*主函数void main(void)timer0init(); /定时器1初始化Trig=0;jd = 14;count = 0;delay(10);while(1)ceju();panduan();Motor_run(); /*外部中断超声波*/ void int0() interrupt 0 TR0=0;关定时器t=TH0*256+TL0; distance=t*0.173;/取 346m/sTH0=0;TL0=0;void Time_Int() interru