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单片机程序问题 超声波避障小车

太原工业学院教务处 • 2023-4-9 • 软件运维 • 阅读 30

单片机程序问题 超声波避障小车,第1张

修改为：

void Avoid()

{

while(S <400)//设置避障距离

{

beep = 0//使能蜂鸣器

stop()//停车

}

beep = 1//关闭蜂鸣器

}

这是一个超声波避障小车的源程序，可以参考下，用的89C52单片机，舵机控制转角避障。

#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

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原文地址: http://outofmemory.cn/yw/7790358.html

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