四路红外循迹小车

[A Former User]

#include <reg51.h>
/***************		宏定义区			*************/ 
#define		PWM_Left_2		20		//左转速度               //左右两侧驱动 
#define		PWM_Left_1		15		//小角度左转速度         //右侧单独驱动 
#define		PWM_Right_1		15		//小角度右转速度         //左侧单独驱动 
#define		PWM_Right_2		20		//右转速                //左右两侧驱动
#define		PWM_straight	        40		//直行速度 

/*************		电机驱动管脚定义		*************/
sbit ENA	=	P1^0;
sbit IN1	=	P1^1;
sbit IN2	=	P1^2;
sbit IN3	=	P1^3;
sbit IN4 	=	P1^4;
sbit ENB	=	P1^5;

/*************		蜂鸣器及灯光管脚定义	*************/
sbit buzz	=	P3^4;
sbit rgb_red    =	P3^5;
sbit rgb_green  =	P3^6;

/*************		红外传感器管脚定义	*************/ 
sbit LEFT_IR    =	P2^2;
sbit RIGHT_IR   =	P2^1;			
sbit RIGHT_IR2  =	P2^0;			
sbit LEFT_IR2	=	P2^3;

/*************		RGB流水灯管脚定义	*************/ 
sbit p1		=	P2^4;
sbit p2		=	P2^5;
sbit p3		=	P2^6;
sbit p4		=	P2^7;

unsigned char PWMA,PWMB;
unsigned int b=2;

void xunji();
void turnleft();
void turnleft2();
void turnright();
void turnright2();
void stop();
void straight();	
void turnleft_1();
void liushuideng();


void delay(unsigned int xms)
{
  unsigned int x,y;
	for(x=xms;x>0;x--)
	for(y=110;y>0;y--);
}

void Timer0Init()		
{
	TMOD |= 0x01;
	TL0 = (65536-100)%256;
	TH0 = (65536-100)/256;
	TR0 = 1;
	ET0 = 1;
	EA = 1;
}

/***************		main函数区		******************/

void main()
{
	
	rgb_green=0;
	Timer0Init();
	while(1)
	{
		xunji();
		liushuideng();
	}
}

/****************		子函数区		******************/

void T0isp() interrupt 1//脉宽调制(PWM)
{
	unsigned char i,j;
	TL0 = (65536-100)%256;	
	TH0 = (65536-100)/256;	
	i++;										
	j++;										
	if(i < PWMA)						
	{
		ENA = 1;								
	}
	else 										
	{
		ENA = 0;
		if(i >= 100)
		{
			i = 0;
		}
	}
	if(j < PWMB)						
	{
		ENB = 1;
	}
	else 										
	{
		ENB = 0;
		if(j >= 100)
		{
			j = 0;
		}
	}
}

void liushuideng()	//RGB流水灯
{
	  p1 = 0;
		delay(100);
		p1 = 1;
		p2 = 0;
		delay(100);
		p2 = 1;
		p3 = 0;
		delay(100);
		p3 = 1;
		p4 = 0;
		delay(100);
		p4 = 1;	
}

void xunji()		//循迹
{
	unsigned char jiaodu;
	if(LEFT_IR == 0 && RIGHT_IR == 0	&& LEFT_IR2 == 0 && RIGHT_IR2 == 0)
	{		
		switch(jiaodu)
		{
			case 0:straight();break;
			case 1:turnleft2();break;
			case 2:turnright2();break;
			default:stop();break;
		}	
	}
	if(LEFT_IR == 1 && RIGHT_IR == 0 && LEFT_IR2 == 0 && RIGHT_IR2 == 0)
	{
		if(b==2)
		{
			turnleft_1();	
			b=0;
		}			
		else
		{
			turnleft();
		}
		jiaodu = 0;
	}
	if(LEFT_IR == 0 && RIGHT_IR == 0 && LEFT_IR2 == 1 && RIGHT_IR2 == 0)
	{
		turnleft2();								
		jiaodu = 1;
	}
	if(LEFT_IR == 1 && RIGHT_IR == 0 && LEFT_IR2 == 1 && RIGHT_IR2 == 0)
	{
		turnleft2();									
		jiaodu = 1;
	}
	if(LEFT_IR == 0 && RIGHT_IR == 1 && LEFT_IR2 == 0 && RIGHT_IR2 == 0)
	{
		turnright();									
		jiaodu = 0;
	}
	if(LEFT_IR == 0 && RIGHT_IR == 0 && LEFT_IR2 == 0 && RIGHT_IR2 == 1)
	{
		turnright2();								
		jiaodu = 2;
	}
	if(LEFT_IR == 0 && RIGHT_IR == 1 && LEFT_IR2 == 0 && RIGHT_IR2 == 1)
	{
		turnleft2();								
		jiaodu = 2;
	}
	if(LEFT_IR == 1 && RIGHT_IR == 1 && LEFT_IR2 == 1 && RIGHT_IR2 == 1)
	{	
		stop();
	  	jiaodu = 3;
	}
}

void straight()		//直行速度配置 
{
	IN1 = 1;
	IN2 = 0;
	PWMA = PWM_straight;												
	IN3 = 1;
	IN4 = 0;
	PWMB = PWM_straight;												
}

void turnleft()		//左转速度配置
{
	IN1 = 0;
	IN2 = 0;
	PWMA = 0;													
	IN3 = 1;
	IN4 = 0;
	PWMB = PWM_Left_1;												
}

void turnleft2()	//大角度左转速度配置
{
	IN1 = 0;
	IN2 = 1;
	PWMA = PWM_Left_2;												
	IN3 = 1;
	IN4 = 0;
	PWMB = PWM_Left_2;											
}

void turnright()	//右转速度配置
{
	IN1 	= 1;
	IN2 	= 0;
	PWMA 	= PWM_Right_1;		
	IN3 	= 0;
	IN4 	= 0;
	PWMB	 = 0;											
}

void turnright2()	//大角度右转速度配置
{
	IN1 = 1;
	IN2 = 0;
	PWMA = PWM_Right_2;									
	IN3 = 0;
	IN4 = 1;
	PWMB = PWM_Right_2;							
}

void turnleft_1()	//内圈临时处理
{
	IN1 = 0;
	IN2 = 1;
	PWMA = 25;												
	IN3 = 1;
	IN4 = 0;
	PWMB = 25;
	delay(300);											
}

void stop()		//停车函数
{
	IN1 = 0;
	IN2 = 0;
	PWMA = 0;												
	IN3 = 0;
	IN4 = 0;
	PWMB = 0;	
	buzz=0;		
	rgb_green=1;
	rgb_red=0;
	delay(1000);
}