C51单片机小车，能够前进后退左转右转，循迹，避障，跟随，超声波测距
main.c
#include<reg52.h>
#include<string.h>
#include "serial.h"
#include "cargogogo.h"
#include "time.h"
#include "track.h"
#include "infrared.h"
#include "follow.h"
#include "chaosheng.h"
#define uchar unsigned char
#define uint unsigned int
extern bit command_finish;
extern unsigned char recbuf[20];
extern unsigned char command_team[3][15];//extern 在另外一个文件里使用就用extern
extern unsigned char cnt;
void delayms(uchar i);
unsigned char speed;
main(){
Timer1_Init();
Timer0_Init();
serial_init();
while(1){ // DF 1.2=1 1DB .3=0 后退
if(command_finish){
//1.6=0 1.7=1
command_finish=0;
Command_Token(recbuf);
}
if(strcmp("control",command_team[1])==0) {
if(command_team[2][0]=='1') {
forward();
}
else if(command_team[2][0]=='2'){
back();
}
else if(command_team[2][0]=='3') {
left();
}
else if(command_team[2][0]=='4'){
right();
}
else if(command_team[2][0]=='0'){
stop();
}
}
else if(strcmp("speed",command_team[1])==0){
speed =(command_team[2][0]-48)*10+(command_team[2][1]-48);
push_val_left=speed;
push_val_right=speed;
}
else if(strcmp("track",command_team[1])==0){
if(LED_Track_l==1&&LED_Track_r==0){
push_val_left=18;
push_val_right=18;
}
Track_Car();
}
else if(strcmp("inrafred",command_team[1])==0){
if(command_team[2][0]=='1')
infrared_track();
else
stop();
}
else if(strcmp("ultrasonic",command_team[1])==0){
if(command_team[2][0]=='1'){
delay_start();
Timer1_Count();
distance();
}
else if(command_team[2][0]=='0')
stop();
}
else if(strcmp("follow",command_team[1])==0){
infrared_follow();
}
}
}
void delayms(uchar i){
uchar j;
for(;i>0;i--)
for(j=112;j>0;j--);
}
serial.c
#include<reg52.h>
#include<string.h>
#include "serial.h"
#include "cargogogo.h"
#include "time.h"
#include "track.h"
#include "infrared.h"
#include "follow.h"
#include "chaosheng.h"
#define uchar unsigned char
#define uint unsigned int
extern bit command_finish;
extern unsigned char recbuf[20];
extern unsigned char command_team[3][15];//extern 在另外一个文件里使用就用extern
extern unsigned char cnt;
void delayms(uchar i);
unsigned char speed;
main(){
Timer1_Init();
Timer0_Init();
serial_init();
while(1){ // DF 1.2=1 1DB .3=0 后退
if(command_finish){
//1.6=0 1.7=1
command_finish=0;
Command_Token(recbuf);
}
if(strcmp("control",command_team[1])==0) {
if(command_team[2][0]=='1') {
forward();
}
else if(command_team[2][0]=='2'){
back();
}
else if(command_team[2][0]=='3') {
left();
}
else if(command_team[2][0]=='4'){
right();
}
else if(command_team[2][0]=='0'){
stop();
}
}
else if(strcmp("speed",command_team[1])==0){
speed =(command_team[2][0]-48)*10+(command_team[2][1]-48);
push_val_left=speed;
push_val_right=speed;
}
else if(strcmp("track",command_team[1])==0){
if(LED_Track_l==1&&LED_Track_r==0){
push_val_left=18;
push_val_right=18;
}
Track_Car();
}
else if(strcmp("inrafred",command_team[1])==0){
if(command_team[2][0]=='1')
infrared_track();
else
stop();
}
else if(strcmp("ultrasonic",command_team[1])==0){
if(command_team[2][0]=='1'){
delay_start();
Timer1_Count();
distance();
}
else if(command_team[2][0]=='0')
stop();
}
else if(strcmp("follow",command_team[1])==0){
infrared_follow();
}
}
}
void delayms(uchar i){
uchar j;
for(;i>0;i--)
for(j=112;j>0;j--);
}
cargogogo.c
#include <reg52.h>
#include "cargogogo.h"
extern unsigned char pwm_val_left;
extern unsigned char pwm_val_right;
unsigned char push_val_left;
unsigned char push_val_right;
bit left_pwm =1;
bit right_pwm =1;
sbit ENL=P1^4;
sbit ENR=P1^5;
sbit INL_F=P1^2;
sbit INL_B=P1^3;
sbit INR_F=P1^6;
sbit INR_B=P1^7;
#define L_go {INL_F=0,INL_B=1;} //左轮前进
#define L_back {INL_F=1,INL_B=0;} //左轮后退
#define L_stop {INL_F=0,INL_B=0;} //左轮停止
#define R_go {INR_F=1,INR_B=0;} //右轮前进
#define R_back {INR_F=0,INR_B=1;} //右轮后退
#define R_stop {INR_F=0,INR_B=0;} //右轮停止
#define PUSH_VAL_LEFT_MAX 80
#define PUSH_VAL_RIGHT_MAX 80
void Left_Moto()
{
if(left_pwm){
if(pwm_val_left<=18)
ENL=1;
else
ENL=0;
if(pwm_val_left==PUSH_VAL_LEFT_MAX)
pwm_val_left=0;
}
else{
ENL=0;
}
}
void Right_Moto()
{
if(right_pwm){
if(pwm_val_right<=18)
ENR=1;
else
ENR=0;
if(pwm_val_right==PUSH_VAL_RIGHT_MAX)
pwm_val_right=0;
}
else{
ENR=0;
}
}
void forward(){
L_go
R_go
}
void back(){
L_back
R_back
}
void left(){
R_go
L_stop
}
void right(){
L_go
R_stop
}
void stop(){
L_stop
R_stop
}
time.c
#include <reg52.h>
#include"time.h"
#include"cargogogo.h"
unsigned char cnt;
unsigned char pwm_val_left; //左轮PWM占空比值
unsigned char pwm_val_right; //右轮PWM占空比值
void Timer0_Init(void)
{
TMOD = 0x01; //设定定时计数器0：工作方式1,16位计数
// TH0 = (65536 - SYSCLK/12/FCLK)/256;//设置计数初值高8位
// TL0 = (65536 - SYSCLK/12/FCLK)%256;//设置计数初值低8位
TH0 = 0xFF; //0.25Ms定时
TL0 = 0x1A;
EA = 1; //开总中断
ET0 = 1;
TR0 = 1;
//TCON=0x10,启动定时计数器0
pwm_val_left=0;
pwm_val_right=0;
}
void Timer0_Isr(void) interrupt 1
{
TH0=0XFF;
TL0=0X1A;
pwm_val_left++;
pwm_val_right++;
Left_Moto();
Right_Moto();
}
infrared.c
#include <reg52.h>
#include "track.h"
#include "cargogogo.h"
#include "serial.h"
#include "infrared.h"
sbit LED_infrared_l=P3^4;
sbit LED_infrared_r=P3^5;
void infrared_track(void)
{
if(LED_infrared_l==0&&LED_infrared_r==0)
forward();
else if(LED_infrared_l==1&&LED_infrared_r==0)
right();
else if(LED_infrared_l==0&&LED_infrared_r==1)
left();
else if(LED_infrared_l==1&&LED_infrared_r==1)
stop();
}
track.c
#include<reg52.h>
#include"track.h"
#include"cargogogo.h"
void Track_Car(){
if(LED_Track_l==0&&LED_Track_r==0){
forward();
}
else if(LED_Track_l==1&&LED_Track_r==0){
left();
}
else if(LED_Track_l==0&&LED_Track_r==1){
right();
}
else if(LED_Track_l==1&&LED_Track_r==1){
left();
}
}
follow.c
#include <reg52.h>
#include "cargogogo.h"
#include "serial.h"
#include "follow.h"
sbit LED_follow_l=P3^4;
sbit LED_follow_r=P3^5;
void infrared_follow(void)
{
if(LED_follow_l==0&&LED_follow_r==0)
stop();
else if(LED_follow_l==1&&LED_follow_r==0)
left();
else if(LED_follow_l==0&&LED_follow_r==1)
right();
else if(LED_follow_l==1&&LED_follow_r==1)
forward();
}
chaosheng.c
#include<reg52.h>
#include"chaosheng.h"
#include"cargogogo.h"
#include"serial.h"
unsigned int time;
unsigned int s;
sbit LED_F=P1^0;
void delay10ms(void);
void delay_start(void){
TRIG=1;
delay10ms();
TRIG=0;
}
void Timer1_Init(){
TMOD=0x10|TMOD;
TH1=0;
TL1=0;
EA=1;
ET1=1;
//TR1=1;
}
void Timer1_Count(){
while(!ECHO); //接受是高电平的时候 开启定时器
TR1=1;
while(ECHO);
TR1=0;
}
void Timer1_Isr(void) interrupt 3{
//TH0=0xFC;
//TL0=0x18;
ECHO=0;
}
void distance(void){
time=TH1*256+TL1;
TH1=0;
TL1=0;
LED_F=0;
s=time*0.17;
if(s<=1500){
left();
//delay10ms();
//car_L();
}
else if(s>1500){
forward();
}
}
void delay10ms(void)
{
unsigned char i,j,k;
for(i=5;i>0;i--)
for(j=4;j>0;j--)
for(k=248;k>0;k--);
}
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