我是一名单片机工程师，对于51单片机智能小车制作，下面的讲解你参考一下。
我看到有很多朋友想做一个属于自己的智能车，但又无从下手，今天我将详细的讲一下循迹小车的制作方法，因为所有的其它功能，都是从循迹这个扩展起来的，你把这个弄懂了，其实的功能了解一下也就懂了。
制作51单片机循迹小车，只需要四步。
1 车模。
2 主控板。
3电机驱动系统。
4 循迹传感器
下面一一进行介绍。
1车模。
对于新手来说你需要一个车模，当然也可以自己制作一个模型，下面这个是两个电机的智能小车。
上面这个车模包含有，1个车模底板，2个减速电机，2个轮子，1个万向轮（上面图片，电池盒下面那个），1个电池盒。
这种车模很多地方都有，你只要按照说明书组装成功就可以了。
2 主控板
另外你还需要一个单片机最小系统
这个主控板的单片机型号是，STC89C52RC
3 电机驱动系统。
这个电机驱动系统的模指颤燃块是L298N（上面图片，最大黑色那个）
这种驱动系统是可以同时驱动两个电机的，完全可以满足你小车的驱动动力，为什么要驱动洞祥呢？因为主控板的单片机电流太弱了，不够电流让电机运行，所以才会有电机驱动模块的产生。
上面这个图中，IN1 IN2和 IN3 IN4（在上面图片的右下角），是用来接单片机的端口（这就可以理解到，这四只脚是电机控制输入端），并且IN1 IN2是左边电机控制用的，为什么一个电机的控制，需要接两个脚呢？
一个电机接两个脚的话，电机就可以正转和反转了，运用到小车上面就是，可以实现小车的前进，后退，左转和右转，这已经满足小车运行时需要的功能。
4 循迹传感器
既然是循迹的智能车，那么你还需要循迹传感器
其实只需要两组红外线发光二极管，就可以实现我们的循迹功能了，如下图所示
从上面图片我们还可以看到，每组当中，都含有黑色红外线管和白色红外线管
我们的循迹小车，是循黑色线走的。
上面图片当中，中间的是黑色线，左右两边的是两组红外线管。
红外线检测黑线的原理。
当红外线检测的不是黑色，发射光通过障碍物能反射给接收，进行正常的发射与接收。
当红外线检测的是黑色，发射光通过黑线产生漫射，接收端就不能正常地接收到发射光，就是凭这一特点，就可以实现我们的小车循迹了，很好玩是吧，嘿嘿！对于智能小车的细节，一言二句说不了太多东西，详细的制作知识，百度上，，，请看“唯虚一凡单片机”，这个里面讲解比较全面，并且还有相应的程序。
以上就是个人分享的智能小车制作方法，希望能帮到你，你通过这个基础实验，发挥想象力，再扩展其它的小车功能，寻找更多的小车乐趣，喜欢的朋友请采纳和点赞，谢谢！
其实只有程序也没有用，要将程序和硬件接合起来才行。比如硬件里用PT0，程序里用PT1，当然不会达到预期目的。下在是上海交空粗通大学的程序。Main.c
#include <hidef.h>/* common defines and macros */
#include <mc9s12db128.h>/族咐* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12db128b"
#include "define.h"
#include "init.h"
// variable used in video process
volatile unsigned char image_data[ROW_MAX][LINE_MAX] // data array of picture
unsigned char black_x[ROW_MAX] // 0ne-dimensional array
unsigned char row // x-position of the array
unsigned char line // y-position of the array
unsigned int row_count // row counter
unsigned char line_sample // used to counter in AD
unsigned char row_image
unsigned char line_temp // temperary variable used in data transfer
unsigned char sample_data[LINE_MAX] // used to save one-dimension array got in
interruption
// variables below are used in speed measure
Unsigned char pulse[5] // used to save data in PA process
Unsigned char counter// temporary counter in Speed detect
Unsigned char cur_speed// current speed
short stand
short data
unsigned char curve // valve used to decide straight or turn
short Bounds(short data)
short FuzzyLogic(short stand)
/*----------------------------------------------------------------------------*\
receive_sci
\*----------------------------------------------------------------------------*/
unsigned char receive_sci(void) // receive data through sci
{ unsigned char sci_data
while(SCI0SR1_RDRF!=1)
sci_data=SCI0DRL
return sci_data
}
/*----------------------------------------------------------------------------*\
transmit_sci
\兆亏纯*----------------------------------------------------------------------------*/
void transmit_sci(unsigned char transmit_data) // send data through sci
{
while(SCI0SR1_TC!=1)
while(SCI0SR1_TDRE!=1)
SCI0DRL=transmit_data
}
/*****************************************************************************
***/
/*----------------------------------------------------------------------------*\
abs_sub
\*----------------------------------------------------------------------------*/
unsigned char abs_sub(unsigned char num1, unsigned char num2)
{ unsigned char difference
if(num1>=num2){
difference=num1-num2
}else{
difference=num2-num1
}
return difference
}
void pwm_set(unsigned int dutycycle)
{
PWMDTY1=dutycycle&0x00FF
PWMDTY0=dutycycle>>8
}
void get_black_wire(void) // used to extract black wire
{ unsigned char i
for(row=0row<ROW_MAXrow++){
for(line=LINE_MINline<LINE_MAX-3line++){
if(image_data[row][line]>image_data[row][line+3]+VALVE){
for(i=3i<10i++){
if(image_data[row][line+i]+VALVE<image_data[row][line+i+3]){
black_x[row]=line+i/2+2
i=10
}
}
line=LINE_MAX
} else{
//black_x[row]=(black_x[row]/45)*78
}
}
}
}
/*----------------------------------------------------------------------------*\
speed_control
\*----------------------------------------------------------------------------*/
void speed_control(void)
{
unsigned int sum,average
sum=0
for(row=0row<FIRST_FIVErow++){
sum=sum+black_x[row]
}
average=sum/FIRST_FIVE
curve=0
for(row=0row<FIRST_FIVErow++)
{
curve=curve+abs_sub(black_x[row],average)
if(curve>CURVE_MAX){
curve_flag=0
speed=low_speed}
else{
curve_flag=1
speed=hign_speed
}
}
}
/*----------------------------------------------------------------------------*\
steer_control
\*----------------------------------------------------------------------------*/
void steer_control(void)
{ unsigned int dutycycle
unsigned char video_center
unsigned int coefficient
int E,U//current
static int e=0
video_center=(LINE_MIN+LINE_MAX)/2
stand=abs_sub(black_x[1]+ black_x[9],2*black_x[5])
E=video_center-black_x[8]
coefficient=30+1*FuzzyLogic(stand)
U=coefficient*E
dutycycle=Bounds(center+U)
pwm_set(dutycycle)
}
// make sure it is within bounds
short Bounds(short data){
if(data>right_limit){
data = right_limit
}
if(data<left_limit){
data = left_limit
}
return data
}
Void speed_get(void)
{
Unsigned char temp
Counter++
Temp=PACN1
cur_speed=temp-pulse[counter-1]
pulse[counter-1]=temp
if(counter==5)
{
counter=0
}
}
Void set_speed(unsigned char desired_speed)
{
If(desired_speed<cur_speed)
{
PWMDTY2=low_speed
}
Else
{
PWMDTY2=high_speed
}
}
/*****************************************************************************
*\
Main
\*****************************************************************************
*/
void main(void) {
// main functiion
init_PORT()
// port initialization
init_PLL()
// setting of the PLL
init_ECT()
init_PWM()
// PWM INITIALIZATION
init_SPEED()
init_SCI()
for() {
if(field_signal==0){ // even->odd
while(field_signal==0)
row_count=0
row_image=0
EnableInterrupts
while(row_count<ROW_END){
get_black_wire()
speed_control()
steer_control()
}
DisableInterrupts
}
else{ // odd->even
while(field_signal==1)
row_count=0
row_image=0
EnableInterrupts
while(row_count<ROW_END){
get_black_wire()
speed_control()
steer_control()
}
DisableInterrupts
}
/* transmit_sci('x')
for(row=0row<ROW_MAXrow++){
transmit_sci(black_x[row])
}
transmit_sci(curve)
*/
}
}
interrupt 6 void IRQ_ISR()
{
row_count++
if((row_count>ROW_START)&&(row_count%INTERVAL==0)&&(row_image<ROW_MAX))
{
init_AD()
for(line_sample=0line_sample<LINE_MAXline_sample++){
while(!ATD0STAT1_CCF0)// WAIT FOR TRANSFORM TO END
sample_data[line_sample]=signal_in// A/D transfer
}
ATD0CTL2=0x00
row_image++
}
if((row_count>ROW_START)&&(row_count%INTERVAL==2)&&(row_image<ROW_MAX+
1)){
for(line_temp=0line_temp<LINE_MAXline_temp++){
image_data[row_image-1][line_temp]=sample_data[line_temp]
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// THE END
//
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Define.h // all macros are define in this header file
/*----------------------------------------------------------------------------*\
macro need to be used in video sample
\*----------------------------------------------------------------------------*/
////////////////////////////
#define signal_in ATD0DR0L // signal from video: right aligned mode，
// only use low 8-bit in ATD Conversion Result
Registers
#define field_signal PTT_PTT2 // field signal is sent into PortT_bit2
#define LINE_MIN 12 // first effective pint in each row
#define LINE_MAX 78 // number of points sampled in each row
#define ROW_MAX 10 // number of rows needed to be sampled in each
picture
#define ROW_START 50 // begin to sample from line start
#define ROW_END 300 // end flag of sampling
#define INTERVAL 20 // interval between effective rows
#define VALVE 24 // valve to decide black track or white track
#define FIRST_FIVE 5
/*----------------------------------------------------------------------------*\
舵机控制变量
\*----------------------------------------------------------------------------*/
#define left_limit 7400 //
#define center 6400 //
#define right_limit 5400 //
//#define coefficient 30 // (LEFT-RIGHT)/(LINE_MAX-LINE_MIN)
/*----------------------------------------------------------------------------*\
速度控制变量
\*----------------------------------------------------------------------------*/
#define curve_flag PORTE_BIT2 // indicate straight line or not
#define speed PWMDTY2 // speed of the car
#define CURVE_MAX 24 // valve to decide straight track or not
#define hign_speed 120 // speed used on straight track
#define low_speed 100 // speed used on the turn
/*----------------------------------------------------------------------------*\
define jump wirecode switchLed
\*----------------------------------------------------------------------------*/
#define JP4_1 PTT_PTT7 // JP4
#define JP4_2 PTT_PTT6
#define JP4_3 PTT_PTT5
#define JP4_4 PTT_PTT4
#define JP4_5 PTP_PTP4
#define JP4_6 PTP_PTP5
#define JP4_7 PTP_PTP6
// define code switch
#define RP1_1 PTM_PTM0
#define RP1_2 PTM_PTM1
#define RP1_3 PTM_PTM2
#define RP1_4 PTM_PTM3
#define RP1_5 PTM_PTM4
#define RP1_6 PTM_PTM5
#define RP1_7 PORTAD0_PTAD4
#define RP1_8 PORTAD0_PTAD3
// define Led
#define Led1 PORTA_BIT4
#define Led2 PORTA_BIT5
#define Led3 PORTA_BIT6
#define Led4 PORTA_BIT7
Init.c // include initial function in this file
#include <hidef.h>/* common defines and macros */
#include <mc9s12db128.h>/* derivative information */
#include "define.h" /* all macro included */
#include "init.h" /* all init function included */
#pragma LINK_INFO DERIVATIVE "mc9s12db128b"
/*----------------------------------------------------------------------------*\
init_PLL
\*----------------------------------------------------------------------------*/
void init_PLL(void)
// setting of the PLL
{
REFDV=3
SYNR=7// bus period=16Mhz*(SYNR+1)/(REFDV+1)
while(0==CRGFLG_LOCK)// wait for VCO to stablize
CLKSEL=0x80
// open PLL
}
Void init_ECT(void)
{
TIOS_IOS3=0// set PT3 as input capture
TCTL4=0b11000000// set pt3 as any edge triggered
ICPAR_PA1EN=1// PA1 enabled
}
/*----------------------------------------------------------------------------*\
init_PORT
\*----------------------------------------------------------------------------*/
void init_PORT(void) // port initialization
{
DDRT_DDRT2=0
// Port M1 function as even-odd field signal
input
DDRJ_DDRJ6=1
// Port J6 enable 33886 0 enable
// Led port
DDRA_BIT4 =1
DDRA_BIT5 =1
DDRA_BIT6 =1
DDRA_BIT7 =1
INTCR_IRQE =1// IRQ Select Edge Sensitive Only
INTCR_IRQEN=1// External IRQ Enable
//输出指示 JP4_1 PTT_PTT0
DDRT_DDRT7=1
DDRT_DDRT6=1
DDRT_DDRT5=1
DDRT_DDRT4=1
DDRP_DDRP4=1//PTP_PTP0
DDRP_DDRP5=1
DDRP_DDRP7=1
}
/*----------------------------------------------------------------------------*\
init_AD
\*----------------------------------------------------------------------------*/
void init_AD(void)
// initialize AD
{
ATD0CTL2=0xC0
// open AD, quick clear, no wait mode, inhibit outer awake, inhibit interrupt
ATD0CTL3=0x08
// one transform in one sequence, No FIFO, contine to transform under freeze mode
ATD0CTL4=0x81
// 8-bit precision, two clocks, ATDClock=[BusClock*0.5]/[PRS+1] PRS=1, divider=4
BusClock=8MHZ
ATD0CTL5=0xA0// right-algned unsigned，single channel，
channel 0
ATD0DIEN=0x00// inhibit digital input
}
/*----------------------------------------------------------------------------*\
init_PWM
\*----------------------------------------------------------------------------*/
void init_PWM(void)
// PWM initialize
{
PTJ_PTJ6 = 0 // "0" enable 33886 motor, "1" disable it
PWME = 0x00 // PWW is disabled
PWMCTL_CON01 = 1 // combine PWM0,1
PWMPRCLK = 0x33 // A=B=32M/8=4M
PWMSCLA = 100 // SA=A/2/100=20k
PWMSCLB = 1 // SB=B/2/1 =2000k
PWMCLK = 0b00011100// PWM0,1-APWM2,3-SBPWM4-SA
PWMPOL = 0xff // Duty＝High Time
PWMCAE = 0x00 // left-aligned
PWMPER0 = 0x4e
PWMPER1 = 0x20
// 20000 = 0x4e20Frequency=A/20000=200Hz
PWMDTY0 = 0x18
PWMDTY1 = 0x6a // initialize PWM
PWME_PWME1 = 1 // enable steer
PWMDTY2 = 20 // Duty cycle
PWMPER2 = 200 // Frequency=SB/200=10K
PWME_PWME2 = 1 // enable motor
}
/*----------------------------------------------------------------------------*\
init_SPEED
\*----------------------------------------------------------------------------*/
void init_SPEED(void) {
DDRM_DDRM0 =0 //code switch 1 on RP1
DDRM_DDRM1 =0 //code switch 1 on RP1
DDRM_DDRM2 =0 //code switch 1 on RP1
DDRM_DDRM3 =0 //code switch 1 on RP1
DDRM_DDRM4 =0 //code switch 1 on RP1
DDRM_DDRM5 =0 //code switch 1 on RP1
ATD0DIEN_IEN4 = 1//code switch 1 on RP1,Enable Digital Input PAD4
ATD0DIEN_IEN3 = 1//code switch 1 on RP1,Enable Digital Input PAD3
if(RP1_1==1) {
speed= hign_speed +2*(RP1_2*10+RP1_3*5+RP1_4*2+RP1_5*2+RP1_6+RP1_7+RP1_8)
}
else{
speed= hign_speed -2*(RP1_2*10+RP1_3*5+RP1_4*2+RP1_5*2+RP1_6+RP1_7+RP1_8)
}
}
/*****************************************************************************
***/
/*----------------------------------------------------------------------------*\
init_SCI
\*----------------------------------------------------------------------------*/
void init_SCI(void) // initialize SCI
{
SCI0BD = 104 // bode rate=32M/(16*SCI0BD)=19200
SCI0CR1=0x00 //
SCI0CR2=0b00001100
}
Init.h
void init_PLL(void)
void init_AD(void)
void init_PWM(void)
void init_SPEED(void)
void init_SCI(void)
void init_PORT(void)
Void init_ECT(void)
Fuzzy.asm // S12 fuzzy logic code
RAM: section
Fuzzy Membership sets
input membership variables
absentry fuzvar
fuzvar: ds.b 5 inputs
Z: equ 0 indicate of straight line
VS: equ 1 turn slightly
S: equ 2 turn a little
BB: equ 3 a big turn
VB: equ 4 a very big turn
output membership variables
absentry fuzout
fuzout: ds.b 4 outputs
remain: equ 5 no change on kp
little: equ 6 little change on kp
big: equ 7 big change on Kp
very_big: equ 8 very big change on kp
EEPROM: section
fuzzification
s_tab: dc.b 0,35,0,8 indicate of straight line
dc.b 0,69,8,8 turn slightly
dc.b 35,104,8,8 turn a little
dc.b 69,138,8,8 a big turn
dc.b 104,255,8,0 a very big turn
rules:
constructing of rule
dc.b Z, $FE,remain,$FE
dc.b VS, $FE,little,$FE
dc.b S, $FE,big,$FE
dc.b BB, $FE,big,$FE
dc.b VB, $FE,very_big,$FE
dc.b $FF end of the rule
addsingleton:
dc.b 0,1,2,3 setting of the weight
absentry FuzzyLogic
FuzzyLogic:
pshx
ldx #s_tab
ldy #fuzvar
mem number of mem indicates the number of input
mem
mem
mem
mem
ldab #4 number of output fuzzy membership sets
cloop:
clr 1,y+ clear output fuzzy variables
dbne b,cloop
ldx #rules
ldy #fuzvar
ldaa #$FF
rev
ldy #fuzout
ldx #addsingleton
ldab #4
wav
ediv
tfr y,d return dpower
pulx
rts
你在中断里面把flag=1进入主指老烂函数后flag一直保持1，而你中断的判断条件是if(flag==0&&P32==0)，它就进不了中断了。你要想这么写的话可以改成这样含芹看看：void INT_0() interrupt 0
{
flag==0；
if(flag==0)
{
P2=0x00 //小车停车
delayms(2000) //延时两秒
flag=1
}
}
或者干脆把if判断去了得了，（仅代表自己看法，我也不怎么唯漏懂啊）。自己多调试调试，肯定能做好的。
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