循迹小车程序

循迹小车程序循迹小车程序循迹小车程序循迹小车程序编制仅供参考审核批准生效日期地址：电话：传真:邮编:ORG0000HLJMPMAINORG000BHLJMPFUNORG0040HMAIN:MOVSP,#60HMOVTH0,#0D8H;定时10msMOVTL0,#0F0HMOVTMOD,#01HMOVIP,#02HMOVIE,#82HMOV08H,#0FHMOV31H,#00HSETBTR0MOVP1,#87H;初始化小车，使得小车一开始左转;MOVP3,#0F0H;传感器清零，复位键置1SJMP$ORG00AFUN:PUSHACCPUSHPSWMOVPSW,#8MOVTH0,#0D8HMOVTL0,#0F0H;DJNZ30H,TSTDECR0CJNER0,#00H,FRUEETMOVR0,#0FHSJMPTSTFRUEET:CJNER0,#0AH,CMPCMP:JCTSTMOV30H,#02HMOVA,P3CPLA;取反p3口的数据，使得信息和给予分析的一致ANLA,#1FHJB,ST;由于p3口的取反，使得原来的“0”信号变为“1CJNEA,#00H,NEXT0;判断及调用功能SJMPLEFTNEXT0:CJNEA,#01H,NEXT1SJMPUPNEXT1:CJNEA,#02H,NEXT2SJMPLEFTNEXT2:CJNEA,#03H,NEXT3SJMPLEFTNEXT3:CJNEA,#04H,NEXT4SJMPSTNEXT4:CJNEA,#05H,NEXT5SJMPUPNEXT5:CJNEA,#06H,NEXT6SJMPLEFTNEXT6:CJNEA,#07H,NEXT7SJMPLEFTNEXT7:CJNEA,#08H,NEXT8SJMPRIGHTNEXT8:CJNEA,#09H,NEXT9SJMPRIGHTNEXT9:CJNEA,#0AH,NEXTASJMPLEFTNEXTA:CJNEA,#0BH,NEXTBSJMPSTNEXTB:CJNEA,#0CH,NEXTCSJMPRIGHTNEXTC:CJNEA,#0DH,NEXTDSJMPRIGHTNEXTD:CJNEA,#0FH,STMOVP1,31HSJMPOUTLEFT:MOVP1,#0A7HSJMPOUTRIGHT:MOVP1,#9BHSJMPOUTUP:MOVP1,#97HSJMPOUTST:MOVP1,#00HMOV31H,P1SJMPOUTTST:MOVP1,#80HOUT:SETBPOPPSWPOPACCRETIENDL293D是步进电机驱动芯片L293D采用16引脚DIP封装，其内部集成了双极型H-桥电路，所有的开量都做成n型。这种双极型脉冲调宽方式具有很多优点，如电流连续；电机可四角限运行；电机停止时有微振电流，起到“动力润滑”作用，消除正反向时的静摩擦死区：低速平稳性好等。L293D通过内部逻辑生成使能信号。H-桥电路的输入量可以用来设置马达转动方向，使能信号可以用于脉宽调整（PWM）。另外，L293D将2个H-桥电路集成到1片芯片上，这就意味着用1片芯片可以同时控制2个电机。每1个电机需要3个控制信号EN12、IN1、IN2，其中EN12是使能信号，IN1、IN2为电机转动方向控制信号，IN1、IN2分别为1，0时，电机正转，反之，电机反转。选用一路PWM连接EN12引脚，通过调整PWM的占空比可以调整电机的转速。选择一路I/O口，经反向器74HC14分别接IN1和IN2引脚，控制电机的正反转main(){···P1=0x40;P3=0xff;high=80;low=30;flag=0;time=50;Start();while(1){P3|=0x0f;Run();}}Start(){charexit,key;exit=1;while(exit){key=P1;if((key&0x40)==0)exit=0;}}Run(){charsensors;sensors=(P3&=0x0f);if((sensors&0x04)==0){TurnRight();flag=1;}elseif((sensors&0x02)==0){TurnLeft();flag=2;}elseif(sensors==0x09){Forward