#include<AT89x51.H>
#include <intrins.h>
#define Sevro_moto_pwm P2_7 //接舵机信号端输入PWM信号调节速度
#define ECHO P2_4 //超声波接口定义
#define TRIG P2_5 //超声波接口定义
#define Left_moto_go {P1_0=1,P1_1=0,P1_2=1,P1_3=0} //左边两个电机向前走
#define Left_moto_back {P1_0=0,P1_1=1,P1_2=0,P1_3=1} //左边两个电机向后转
#define Left_moto_Stop {P1_0=0,P1_1=0,P1_2=0,P1_3=0} //左边两个电机停转
#define Right_moto_go {P1_4=1,P1_5=0,P1_6=1,P1_7=0} //右边两个电机向前走
#define Right_moto_back {P1_4=0,P1_5=1,P1_6=0,P1_7=1} //右边两个电机向前走
#define Right_moto_Stop {P1_4=0,P1_5=0,P1_6=0,P1_7=0} //右边两个电机停转
unsigned char const discode[] ={ 0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xBF,0xff/*-*/}
unsigned char const positon[3]={ 0xfe,0xfd,0xfb}
unsigned char disbuff[4] ={ 0,0,0,0,}
unsigned char posit=0
unsigned char pwm_val_left = 0//变量定义
unsigned char push_val_left =14//舵机归中，产生约，1.5MS 信号
unsigned long S=0
unsigned long S1=0
unsigned long S2=0
unsigned long S3=0
unsigned long S4=0
unsigned int time=0//时间变量
unsigned int timer=0//延时基准变量
unsigned char timer1=0//扫描时间变量
/************************************************************************/
void delay(unsigned int k) //延时函数
{
unsigned int x,y
for(x=0x<kx++)
for(y=0y<2000y++)
}
/************************************************************************/
void Display(void) //扫描数码管
{
if(posit==0)
{P0=(discode[disbuff[posit]])&0x7f}//产生点
else
{P0=discode[disbuff[posit]]} if(posit==0)
{ P2_1=0P2_2=1P2_3=1}
if(posit==1)
{P2_1=1P2_2=0P2_3=1}
if(posit==2)
{P2_1=1P2_2=1P2_3=0}
if(++posit>=3)
posit=0
}
/************************************************************************/
void StartModule() //启动测距信号
{
TRIG=1
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
_nop_()
TRIG=0
}
/***************************************************/
void Conut(void) //计算距离
{
while(!ECHO)//当RX为零时等待
TR0=1//开启计数
while(ECHO)//当RX为1计数并等待
TR0=0//关闭计数
time=TH0*256+TL0//读取脉宽长度
TH0=0
TL0=0
S=(time*1.7)/100//算出来是CM
disbuff[0]=S%1000/100//更新显示
disbuff[1]=S%1000%100/10
disbuff[2]=S%1000%10 %10
}
/************************************************************************/
//前速前进
void run(void)
{
Left_moto_go //左电机往前走
Right_moto_go //右电机往前走
}
/************************************************************************/
//前速后退
void backrun(void)
{
Left_moto_back //左电机往前走
Right_moto_back //右电机往前走
}
/************************************************************************/
//左转
void leftrun(void)
{
Left_moto_back //左电机往前走
Right_moto_go //右电机往前走
}
/************************************************************************/
//右转
void rightrun(void)
{
Left_moto_go //左电机往前走
Right_moto_back //右电机往前走
}
/************************************************************************/
//STOP
void stoprun(void)
{
Left_moto_Stop //左电机停走
Right_moto_Stop //右电机停走
}
/************************************************************************/
void COMM( void )
{
push_val_left=5//舵机向左转90度
timer=0
while(timer<=4000)//延时400MS让舵机转到其位置
StartModule()//启动超声波测距
Conut()//计算距离
S2=S
push_val_left=23//舵机向右转90度
timer=0
while(timer<=4000)//延时400MS让舵机转到其位置
StartModule()//启动超声波测距
Conut()//计算距离
S4=S
push_val_left=14//舵机归中
timer=0
while(timer<=4000)//延时400MS让舵机转到其位置 StartModule()//启动超声波测距
Conut()//计算距离
S1=Sif((S2<20)||(S4<20)) //只要左右各有距离小于20CM小车后退
{
backrun()//后退
timer=0
while(timer<=4000)
}
if(S2>S4)
{
rightrun()//车的左边比车的右边距离小 右转
timer=0
while(timer<=4000)
}
else
{
leftrun()//车的左边比车的右边距离大 左转
timer=0
while(timer<=4000)
}
} /************************************************************************/
/* PWM调制电机转速 */
/************************************************************************/
/* 左电机调速 */
/*调节push_val_left的值改变电机转速,占空比 */
void pwm_Servomoto(void)
{
if(pwm_val_left<=push_val_left)
Sevro_moto_pwm=1
else
Sevro_moto_pwm=0
if(pwm_val_left>=200)
pwm_val_left=0
}
/***************************************************/
///*TIMER1中断服务子函数产生PWM信号*/
void time1()interrupt 3 using 2
{
TH1=(65536-100)/256//100US定时
TL1=(65536-100)%256
timer++//定时器100US为准。在这个基础上延时
pwm_val_left++
pwm_Servomoto()timer1++//2MS扫一次数码管
if(timer1>=20)
{
timer1=0
Display()
}
}
/***************************************************/
///*TIMER0中断服务子函数产生PWM信号*/
void timer0()interrupt 1 using 0
{
} /***************************************************/ void main(void)
{ TMOD=0X11
TH1=(65536-100)/256//100US定时
TL1=(65536-100)%256
TH0=0
TL0=0
TR1= 1
ET1= 1
ET0= 1
EA = 1delay(100)
push_val_left=14//舵机归中
while(1) /*无限循环*/
{ if(timer>=1000) //100MS检测启动检测一次
{
timer=0
StartModule()//启动检测
Conut()//计算距离
if(S<30) //距离小于20CM
{
stoprun()//小车停止
COMM()//方向函数
}
else
if(S>30) //距离大于，30CM往前走
run()
}
}
}
/**************************************************************************/
下面是头文件：
头文件（一）
/*--------------------------------------------------------------------------
AT89X51.H Header file for the low voltage Flash Atmel AT89C51 and AT89LV51.
Copyright (c) 1988-2002 Keil Elektronik GmbH and Keil Software, Inc.
All rights reserved.
--------------------------------------------------------------------------*/
#ifndef __AT89X51_H__
#define __AT89X51_H__
/*------------------------------------------------
Byte Registers
------------------------------------------------*/
sfr P0 = 0x80
sfr SP = 0x81
sfr DPL = 0x82
sfr DPH = 0x83
sfr PCON = 0x87
sfr TCON = 0x88
sfr TMOD = 0x89
sfr TL0 = 0x8A
sfr TL1 = 0x8B
sfr TH0 = 0x8C
sfr TH1 = 0x8D
sfr P1 = 0x90
sfr SCON = 0x98
sfr SBUF = 0x99
sfr P2 = 0xA0
sfr IE = 0xA8
sfr P3 = 0xB0
sfr IP = 0xB8
sfr PSW = 0xD0
sfr ACC = 0xE0
sfr B = 0xF0
/*------------------------------------------------
P0 Bit Registers
------------------------------------------------*/
sbit P0_0 = 0x80
sbit P0_1 = 0x81
sbit P0_2 = 0x82
sbit P0_3 = 0x83
sbit P0_4 = 0x84
sbit P0_5 = 0x85
sbit P0_6 = 0x86
sbit P0_7 = 0x87
/*------------------------------------------------
PCON Bit Values
------------------------------------------------*/
#define IDL_ 0x01
#define STOP_ 0x02
#define PD_ 0x02 /* Alternate definition */
#define GF0_ 0x04
#define GF1_ 0x08 #define SMOD_ 0x80 /
*------------------------------------------------
TCON Bit Registers
------------------------------------------------*/
sbit IT0 = 0x88
sbit IE0 = 0x89
sbit IT1 = 0x8A
sbit IE1 = 0x8B
sbit TR0 = 0x8C
sbit TF0 = 0x8D
sbit TR1 = 0x8E
sbit TF1 = 0x8F
/*------------------------------------------------
TMOD Bit Values
------------------------------------------------*/
#define T0_M0_ 0x01
#define T0_M1_ 0x02
#define T0_CT_ 0x04
#define T0_GATE_ 0x08
#define T1_M0_ 0x10
#define T1_M1_ 0x20
#define T1_CT_ 0x40
#define T1_GATE_ 0x80
#define T1_MASK_ 0xF0
#define T0_MASK_ 0x0F
/*------------------------------------------------
P1 Bit Registers
------------------------------------------------*/
sbit P1_0 = 0x90
sbit P1_1 = 0x91
sbit P1_2 = 0x92
sbit P1_3 = 0x93
sbit P1_4 = 0x94
sbit P1_5 = 0x95
sbit P1_6 = 0x96
sbit P1_7 = 0x97/
*------------------------------------------------
SCON Bit Registers
------------------------------------------------*/
sbit RI = 0x98
sbit TI = 0x99
sbit RB8 = 0x9A
sbit TB8 = 0x9B
sbit REN = 0x9C
sbit SM2 = 0x9D
sbit SM1 = 0x9E
sbit SM0 = 0x9F
/*------------------------------------------------
P2 Bit Registers
------------------------------------------------*/
sbit P2_0 = 0xA0
sbit P2_1 = 0xA1
sbit P2_2 = 0xA2
sbit P2_3 = 0xA3
sbit P2_4 = 0xA4
sbit P2_5 = 0xA5
sbit P2_6 = 0xA6
sbit P2_7 = 0xA7
/*------------------------------------------------
IE Bit Registers
------------------------------------------------*/
sbit EX0 = 0xA8/* 1=Enable External interrupt 0 */
sbit ET0 = 0xA9/* 1=Enable Timer 0 interrupt */
sbit EX1 = 0xAA/* 1=Enable External interrupt 1 */
sbit ET1 = 0xAB/* 1=Enable Timer 1 interrupt */
sbit ES = 0xAC/* 1=Enable Serial port interrupt */
sbit ET2 = 0xAD/* 1=Enable Timer 2 interrupt */ sbit EA = 0xAF/* 0=Disable all interrupts */
/*------------------------------------------------
P3 Bit Registers (Mnemonics &Ports)
------------------------------------------------*/
sbit P3_0 = 0xB0
sbit P3_1 = 0xB1
sbit P3_2 = 0xB2
sbit P3_3 = 0xB3
sbit P3_4 = 0xB4
sbit P3_5 = 0xB5
sbit P3_6 = 0xB6
sbit P3_7 = 0xB7sbit RXD = 0xB0/* Serial data input */
sbit TXD = 0xB1/* Serial data output */
sbit INT0 = 0xB2/* External interrupt 0 */
sbit INT1 = 0xB3/* External interrupt 1 */
sbit T0 = 0xB4/* Timer 0 external input */
sbit T1 = 0xB5/* Timer 1 external input */
sbit WR = 0xB6/* External data memory write strobe */
sbit RD = 0xB7/* External data memory read strobe */
/*------------------------------------------------
IP Bit Registers
------------------------------------------------*/
sbit PX0 = 0xB8
sbit PT0 = 0xB9
sbit PX1 = 0xBA
sbit PT1 = 0xBB
sbit PS = 0xBC
sbit PT2 = 0xBD
/*------------------------------------------------
PSW Bit Registers
------------------------------------------------*/
sbit P = 0xD0
sbit FL = 0xD1
sbit OV = 0xD2
sbit RS0 = 0xD3
sbit RS1 = 0xD4
sbit F0 = 0xD5
sbit AC = 0xD6
sbit CY = 0xD7
/*------------------------------------------------
Interrupt Vectors:
Interrupt Address = (Number * 8) + 3
------------------------------------------------*/
#define IE0_VECTOR 0 /* 0x03 External Interrupt 0 */
#define TF0_VECTOR 1 /* 0x0B Timer 0 */
#define IE1_VECTOR 2 /* 0x13 External Interrupt 1 */
#define TF1_VECTOR 3 /* 0x1B Timer 1 */
#define SIO_VECTOR 4 /* 0x23 Serial port */ #endif
头文件（二）
/*--------------------------------------------------------------------------
INTRINS.H Intrinsic functions for C51.
Copyright (c) 1988-2002 Keil Elektronik GmbH and Keil Software, Inc.
All rights reserved.
--------------------------------------------------------------------------*/
#ifndef __INTRINS_H__
#define __INTRINS_H__ extern void _nop_ (void)
extern bit _testbit_ (bit)
extern unsigned char _cror_ (unsigned char, unsigned char)
extern unsigned int _iror_ (unsigned int, unsigned char)
extern unsigned long _lror_ (unsigned long, unsigned char)
extern unsigned char _crol_ (unsigned char, unsigned char)
extern unsigned int _irol_ (unsigned int, unsigned char)
extern unsigned long _lrol_ (unsigned long, unsigned char)
extern unsigned char _chkfloat_(float)#endif
红外探测避障，可以利用红外发二极管与红外接收二极管，市面上也有组装在一起的对管。发射管发射红外线，收到障碍物阻挡反射回来，被接收管接收，不同的距离，接受管的都通率不同，因此可以检测接收管的导通率来确定障碍物的距离，单片机再控制小车避开障碍物
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