智能小车的四路避障C程序

1、/9ms中心是0 x0159/9ms中心是0 x0159/4.5ms中心是0 x00ac/2.25ms中心是/0.56ms中心是/1.68ms中心是智能小车的四路避障程序默认分类2009-08-2410:35阅读164评论4字号：大中小前,左,后避障传感器现在对应中,右,左三路寻线传感器.#include#include#includeSTC12C5410AD.H#includesio.h#defineMIN9MS0 x0120#defineMAX9MS0 x01a0#defineMIN45MS0 x0090#defineMAX45MS0 x00d0#defineMIN225MS0 x0040

2、0 x0056#defineMAX225MS0 x0080#defineMIN056MS0 x000e0 x0015#defineMAX056MS0 x001b#defineMIN168MS0 x00200 x0040#defineMAX168MS0 x0060sfrISP_CUNTR=0 xE7;sbitLED1=P1八1;sbitLED2=P1八2;sbitIR_FRONT=P3八3;sbitIR_LEFT=P3A4;sbitIR_RIGHT=P3A5;sbitIR_BACK=P1A3;sbitIR_OUT=P1A0;sbitPWM0=P3A7;sbitMOTO_IN_A1=P1八7;sb

3、itMOTO_IN_A2=P1八6;sbitMOTO_IN_B1=P1八5;sbitMOTO_IN_B2=P1八4;bitpower_stat;staticunsignedcharcar_stat;/小车状态:0,停止;1,前进;2，后退;3,左转;4，右转;ff,自控寻线模式staticunsignedcharcodeled_mod_table320=1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0;un

4、signedcharidataled_mod=0;staticunsignedcharidataled_tick=0;staticunsignedcharidataled_ptr=0;#defineIR_SIGNAL_TOTAL21#defineIR_SIGNAL_VALID18staticunsignedcharcodeir_tableIR_SIGNAL_TOTAL=1,1,1,0,0,0,0,0,0,1,1,1,1,0,0,0,0,0,0,0,0;staticunsignedcharcodeir_check_tableIR_SIGNAL_TOTAL=0,0,0,0,1,1,1,0,0,0,

5、0,0,0,1,1,1,1,0,0,0,0;staticunsignedcharidatair_ptr=0;staticunsignedcharidatafront_signal=0;staticunsignedcharidataback_signal=0;staticunsignedcharidataleft_signal=0;staticunsignedcharidataright_signal=0;staticbitfront_obj=0,back_obj=0,left_obj=0,right_obj=0;staticvoiddelay(unsignedlongv)while(v-)/*

6、PCA中断计数，根据位置判断信号区域和定义，位置0表示初始,1代表引导码信号,2表示引导码间隔,3表示第一个bit的信号，4表示第一个bit的间隔，以次类推.更具体见对应的红外线协议.*/staticunsignedcharidatapca_tick;staticunsignedcharidatapca_int_count;staticunsignedchardatapca_int_total;/*根据引导头确定总长度*/staticunsignedintidataperiod;/*红外信号占或空周期计数*/staticunsignedcharidatadata_buf6;/*红外线协议数据缓

7、冲区*/staticunsignedintidataccap1;/PCA0上一次的的计数staticunsignedcharidataframe_dog;/红外帧看门狗,限定时间未接收完成清除工作voidtime0_isr()interrupt1unsignedchartmp;if(ir_tableir_ptr+)IR_OUT=0;elseIR_OUT=1;ir_ptr%=IR_SIGNAL_TOTAL;tmp=ir_check_tableir_ptr;if(!IR_FRONT&tmp)|(IR_FRONT&!tmp)front_signal+;if(!IR_LEFT&tmp)|(IR_LEF

8、T&!tmp)if(!IR_RIGHT&tmp)|(IR_RIGHT&!tmp)right_signal+;if(!IR_BACK&tmp)|(IR_BACK&!tmp)back_signal+;if(ir_ptr=0)/com_putchar(front_signal);if(front_signal=IR_SIGNAL_VALID)front_obj=1;elsefront_obj=0;if(back_signal=IR_SIGNAL_VALID)back_obj=1;elseback_obj=0;if(left_signal=IR_SIGNAL_VALID)left_obj=1;else

9、left_obj=0;if(right_signal=IR_SIGNAL_VALID)right_obj=1;elseright_obj=0;front_signal=0;back_signal=0;left_signal=0;right_signal=0;voidtime0_initialize(void)TMOD&=0 x0F;/*cleartimer0modebits*/TMOD|=0 x02;/*puttimer0intoMODE2*/TH0=0 x5C;/*256-XTAL*dur/T1_12/1000000,dur=定时器的周期，以us为单位*/TL0=0 x5C;/*100us*

10、/PT0=0;/*时钟0中断低优先级*/TR0=1;ET0=1;staticvoidwakeup(void)interrupt2staticvoidpca_isr(void)interrupt6unsignedchari,j;if(CCF1)CCF1=0;/清PCA1中断标志LED1=IR_RIGHT;LED2=IR_RIGHT;if(!pca_int_count)/第一次收到信号if(!IR_RIGHT)ccap1=pca_tick*256+CCAP1H;pca_int_count+;else/已经收到一些信号period=pca_tick*256+CCAP1H-ccap1;ccap1=pc

11、a_tick*256+CCAP1H;/com_putchar(period/256);/com_putchar(period%256);if(pca_int_count=1)if(periodMAX9MS)/9mspca_int_count=0;frame_dog=0;elsepca_int_count+;elseif(pca_int_count=2)if(periodMIN225MS&periodMIN45MS&periodMIN056MS&period=pca_int_total)/帧接收完毕,下面进行有效分析.if(pca_int_total=67)/完整信号,含有引导信号，设备码8bi

12、t,设备反码8bit,命令字8bit,命令字反码8bitif(data_buf0八data_buf1=0 xff)&(data_buf2八data_buf3=0 xff)com_putchar(data_buf0);com_putchar(data_buf2);if(data_buf0=0 x40)switch(data_buf2)case0 x5F:/左car_stat=3;break;case0 x5B:/右car_stat=4;break;case0 x5A:/上car_stat=1;break;case0 x5E:/下car_stat=2;break;case0 x56:/菜单car_

13、stat=0;break;case0 x0:/数字0car_stat=0 xff;break;case0 x12:/POWER/power_stat=power_stat;break;default:break;else/重复信号,仅含有引导信号pca_int_count=0;frame_dog=0;elsepca_int_count+;elsepca_int_count=0;frame_dog=0;elsej=(pca_int_count-3)/2;i=j/8;j=j%8;if(periodMIN168MS&periodMAX168MS)/1.68ms/com_putchar(0 x01);

14、data_buf|=(0 x01MIN056MS&periodMAX056MS)/0.56ms/com_putchar(0 x00);data_buf&=(0 x01=10)led_tick=0;if(led_mod_tableled_modled_ptr+)LED1=0;LED2=0;elseLED1=1;LED2=1;led_ptr%=20;if(pca_int_count)frame_dog+;if(frame_dog=15)/100ms后重新开始分析新的红外线数据包pca_int_count=0;frame_dog=0;voidauto_power_down()delay(30000)

15、;ISP_CUNTR=0 x20;/从AP复位并从AP执行voidmain(void)unsignedchari;unsignedlongj;MOTO_IN_A1=0;MOTO_IN_A2=0;MOTO_IN_B1=0;MOTO_IN_B2=0;P1M1=0 xf0;/P1.7P1.4强推挽输出EA=0;power_stat=0;time0_initialize();com_initialize();/*initializeinterruptdrivenserialI/O*/com_baudrate(4800);/*setupfor1200baud*/*CMOD=0 x01;/#0000000

16、0B,PCA空闲计数,PCA计数源=Fosc/12,PCA溢出中断(做一个定时器使用)CCON=0 x00;/PCA中断标志清0,PCA停止计数CL=0 x0;CH=0 x0;CCAPM1=0 x31;/PCA1上升下降沿捕获*/CMOD=0 x03;/*#00000010B,PCA空闲计数,PCA计数源=fosc/2,PCA溢出中断*/CCON=0 x00;/PCA中断标志清0,PCA停止计数CL=0 x0;CH=0 x0;CCAPM1=0 x31;/PCA1上升下降沿捕获CCAPM00 x42;/PCA0工作模式:8位pwmPCA_PWM0=0 x00;CCAP0L=0 x20;CCAP0

17、H=0 x20;EPCA_LVD=1;/允许PCA和低压检测中断car_stat=0;pca_tick=0;pca_int_count=0;frame_dog=0;EA=1;CR=1;EA=1;CR=1;启动PCA计数while(1)if(power_stat)/auto_power_down();if(left_obj|right_obj|front_obj|back_obj)LED1=0;LED2=0;switch(car_stat)case0:MOTO_IN_A1=0;MOTO_IN_A2=0;MOTO_IN_B1=0;MOTO_IN_B2=0;break;case0 xff:if(!front_obj)/中线传感器检测到黑线MOTO_IN_A1=1;MOTO_IN_A2=0;MOTO_IN_B1=1;MOTO_IN_B2=0;j=50000;while(j)j-;if(front_obj)break;elseTURNLEFT:MOTO_IN_A1=0;MOTO_IN_A2=1;MOTO_IN_B1=1;MOTO_IN_B2=0;j=1000000;while(1)j-;if(!front_obj)gotoEXIT;if(!left_obj)gotoTURNLEFT;if(!back_obj)gotoTURNRIGH