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標(biāo)題: 接線如圖所示，程序如下，求大佬指點(diǎn) [打印本頁(yè)]

作者: 哭著笑 時(shí)間: 2018-5-23 20:05
標(biāo)題: 接線如圖所示，程序如下，求大佬指點(diǎn)
/*********引腳定義**********/
#include "reg51.h"
typedef unsigned int uint;
typedef unsigned char uchar;

#define Duty_cycle 35               //占空比
#define Cycle    100 //PWM周期

sbit Sensor_1 = P1^1; //紅外檢測(cè)
sbit Sensor_2 = P1^2;

sbit Motor_1H = P0^0; //電機(jī)控制
sbit Motor_1L = P0^1;
sbit Motor_2H = P0^2;
sbit Motor_2L = P0^3;
sbit Motor_3H = P0^4;
sbit Motor_3L = P0^5;
sbit Motor_4H = P0^6;
sbit Motor_4L = P0^7;

sbit En_pwm1 = P1^4; //使能信號(hào) (PWM)
sbit En_pwm2 = P1^5;
sbit En_pwm3 = P1^6;
sbit En_pwm4 = P1^7;

uchar timer1; //定義變量

/*********主函數(shù)**********/
void main ()
{
   Time1Config(); //定時(shí)器初始化

while(1)
{
if (Sensor_1 == 1 && Sensor_2 == 1) //狀態(tài)：軌跡居中
Go_Straighe(); //方向：前進(jìn)
else if (Sensor_1 == 1 && Sensor_2 == 0)    //狀態(tài)：偏左
Turn_Righr(); //方向：右轉(zhuǎn)
else if (Sensor_1 == 0 && Sensor_2 == 1) //狀態(tài)：偏右
Turn_Left(); //方向：左轉(zhuǎn)
else if (Sensor_1 == 0 && Sensor_2 == 0) //狀態(tài)：偏離軌跡
Stop(); //方向：停止
else Go_Straight(); //其他情況：前進(jìn)
}
}

/**********設(shè)置定時(shí)器**********/
void Time1Config()
{
TMOD = 0x10; //設(shè)置定時(shí)器計(jì)數(shù)器T1工作在模式1
/**********定時(shí)器賦初值*********/
TH1 = 0xFE;
TL1 = 0x0c;

ET1 = 1; //開啟定時(shí)器1中斷
EA = 1;
TR1 = 1; //開啟定時(shí)器
}

/**********定時(shí)器1的中斷函數(shù)**********/
void Time1(void) interrupt 3 //3 為定時(shí)器的中斷信號(hào)
{
Time1++;
if (Timer1 > Cycre) //PWM周期
{
Time1 = 0;
}
if (Timer1 < Duty_cycle)    //改變Duty_cycle 這個(gè)值，可以改變直流電機(jī)的速度
{
En_pwm1 = 1;
En_pwm2 = 1;
En_pwm3 = 1;
En_pwm4 = 1;
}
else
{
En_pwm1 = 0;
En_pwm2 = 0;
En_pwm3 = 0;
En_pwm4 = 0;
}
TH1 = 0xFE; //重新賦值
TL1 = 0x0C;
}

IMG_20180523_200006.jpg (3.75 MB, 下載次數(shù): 37)

IMG_20180523_200138.jpg (3.9 MB, 下載次數(shù): 39)

IMG_20180523_200144.jpg (3.99 MB, 下載次數(shù): 45)

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