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標題:
智能尋跡小車51單片機控制程序
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作者:
OKLD168
時間:
2017-7-7 22:38
標題:
智能尋跡小車51單片機控制程序
#include <reg52.h>
#include "car.h" //自己編寫的頭文件，里面有函數聲明
/********************************/
/* 清空電機控制IO位 */
/********************************/
void CleanRun()
{
left_a = 0;
left_b = 0;
right_a = 0;
right_b = 0;
}
/********************************/
/* 根據接收到的數據，控制小車 */
/********************************/
void Run()
{
uchar delaytime = 50; //前進、后退、側向前進的延時時間
uchar little_delaytime = 22; //轉彎的延時時間
switch(recvbuf)
{
case 0x01: //前進
{
left_a = 1; //正轉
left_b = 0;
right_a = 1; //正轉
right_b = 0;
delayms(delaytime);
break;
}
case 0x02: //后退
{
left_a = 0; //反轉
left_b = 1;
right_a = 0; //反轉
right_b = 1;
delayms(delaytime);
break;
}
case 0x03: //左轉
{
left_a = 0; //不轉
left_b = 0;
right_a = 1; //正轉
right_b = 0;
delayms(little_delaytime);
break;
}
case 0x04: //右轉
{
left_a = 1; //正轉
left_b = 0;
right_a = 0; //不轉
right_b = 0;
delayms(little_delaytime);
break;
}
case 0x05: //前左方向運行
{
right_a = 1; //正轉
right_b = 0;
left_b = 0; //半速正轉
StartPwm(lefta); //開啟定時器，設定產生PWM的引腳
delayms(delaytime); //延時一段時間
StopPwm(); //關閉定時器
break;
}
case 0x06: //前右方向運行
{
left_a = 1; //正轉
left_b = 0;
right_b = 0; //半速正轉
StartPwm(righta);
delayms(delaytime);
StopPwm();
break;
}
case 0x07: //后左方向運行
{
right_a = 0; //后轉
right_b = 1;
left_a = 0; //半速后轉
StartPwm(leftb);
delayms(delaytime);
StopPwm();
break;
}
case 0x08: //后右方向運行
{
left_a = 0; //后轉
left_b = 1;
right_a = 0; //半速后轉
StartPwm(rightb);
delayms(delaytime);
StopPwm();
break;
}
case 0x09: //原地順時針旋轉
{
left_a = 1;
left_b = 0;
right_a = 0;
right_b = 1;
delayms(delaytime);
break;
}
case 0x0a: //原地逆時針旋轉
{
left_a = 0;
left_b = 1;
right_a = 1;
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