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標題: 51單片機智能車紅外循跡源程序 [打印本頁]

作者: 那一年的回憶 時間: 2018-12-6 19:38
標題: 51單片機智能車紅外循跡源程序
#include <reg52.h>

/***********循跡聲明*************/
sbit  led_1 = P0^6;
sbit  led_2 = P0^5;
sbit  led_3 = P0^4;
sbit  led_4 = P0^3;
sbit  led_5 = P0^2;
sbit  led_6 = P0^1;
sbit  led_7 = P0^0;

/**************電機聲明************/
sbit  left_frontmotor_in1 = P1^0;
sbit  left_frontmotor_in2 = P1^1;
sbit  left_backmotor_in1 = P1^2;
sbit  left_backmotor_in2 = P1^3;

sbit  right_frontmotor_in1 = P1^6;
sbit  right_frontmotor_in2 = P1^7;
sbit  right_backmotor_in1  = P1^4;
sbit  right_backmotor_in2  = P1^5;

float val;

void Turn_Left(int x);    //左輪直走
void Turn_Right(int x);    //右輪直走
void Straight(int x);
void Xunji(void);

void delay_ms(int n)
{
unsigned int i,y;

for(i=n;i>0;i--)
for(y=114;y>0;y--);
}

int main(void)
{
while(1)
{
     Xunji();
if(val==0) Straight(10);
else if(val>0){Turn_Right(30);Turn_Left(30-val*10);}
else if(val<0){Turn_Right(30+val*10);Turn_Left(30);}
}
}

void Turn_Left(int x)
{
left_frontmotor_in1 = 1;
left_backmotor_in1 = 1;
delay_ms(x);
left_frontmotor_in1 = 0;
left_backmotor_in1 = 0;
left_frontmotor_in2 = 0;
left_backmotor_in2 = 0;
right_frontmotor_in1 = 0;
right_frontmotor_in2 = 0;
right_backmotor_in1 = 0;
right_backmotor_in2 = 0;
delay_ms(30-x);
}

void Turn_Right(int x)
{
right_frontmotor_in1 = 1;
right_backmotor_in1 = 1;
delay_ms(x);
right_frontmotor_in1 = 0;
right_backmotor_in1 = 0;
left_frontmotor_in1 = 0;
left_frontmotor_in2 = 0;
left_backmotor_in1 = 0;
left_backmotor_in2 = 0;
right_frontmotor_in2 = 0;
right_backmotor_in2 = 0;
delay_ms(30-x);
}

void Straight(int x)
{
left_frontmotor_in1 = 1;
left_backmotor_in1 = 1;
right_frontmotor_in1 = 1;
right_backmotor_in1 = 1;
delay_ms(x);
left_frontmotor_in1 = 0;
left_frontmotor_in2 = 0;
left_backmotor_in1 = 0;
left_backmotor_in2 = 0;
right_frontmotor_in1 = 0;
right_frontmotor_in2 = 0;
right_backmotor_in1 = 0;
right_backmotor_in2 = 0;
delay_ms(30-x);
}

void Xunji(void)
{
int p;

p=P0&0x7f;

switch(p)
{
case 0X7f:val=0;break;             //111 1111
case 0X77:val=0;break;             //111 0111
case 0X6F:val=2.3;break;             //110 1111
case 0X7B:val=-2.3;break;             //111 1011
case 0X5F:val=2.5;break;             //101 1111
case 0X7D:val=-2.7;break;             //111 1101
case 0X3F:val=3;break;             //011 1111
case 0X7E:val=-3;break;             //111 1110
}

// if(led_1==1&&led_2==1&&led_3==1&&led_4==0&&led_5==1&&led_6==1&&led_7==1) val=0;
// if(led_1==1&&led_2==1&&led_3==0&&led_4==1&&led_5==1&&led_6==1&&led_7==1) val=1;
// if(led_1==1&&led_2==1&&led_3==1&&led_4==1&&led_5==0&&led_6==1&&led_7==1) val=-1;
// if(led_1==1&&led_2==0&&led_3==1&&led_4==1&&led_5==1&&led_6==1&&led_7==1) val=2;
// if(led_1==1&&led_2==1&&led_3==1&&led_4==1&&led_5==1&&led_6==0&&led_7==1) val=-2;
// if(led_1==0&&led_2==1&&led_3==1&&led_4==1&&led_5==1&&led_6==1&&led_7==1) val=3;
// if(led_1==1&&led_2==1&&led_3==1&&led_4==1&&led_5==1&&led_6==1&&led_7==0) val=-3;
}

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