#include <reg52.h>
#include <Intrins.h>
sbit Trig = P2^1;
sbit Echo = P2^2;
sbit sg90_con = P1^1;
int count = 0;
int angle ;//定义舵机角度
sbit IN1=P3^4;
sbit IN2=P3^3;
sbit IN3=P3^2;
sbit IN4=P3^1;
unsigned char PWMA,PWMB;
#define MIDDLE 0
#define LEFT 1
#define RIGHT 2
void Delay(unsigned int xms) //@11.0592MHz
{
unsigned char i, j;
while(xms--)
{
i = 2;
j = 239;
do
{
while (--j);
} while (--i);
}
}
void Delay10us() //@11.0592MHz
{
unsigned char i;
i = 2;
while (--i);
}
void Time1Init()
{
TMOD &= 0x0F; //设置定时器1模式为16位
TMOD |= 0x10;
TL1 = 0;//设置定时器1从0开始数数,不着急启动定时器
TH1 = 0;
TF1 = 0;
}
void startHC()
{
Trig = 0;
Trig = 1;
Delay10us();
Trig = 0;
}
double get_distance()
{
double time;//时间
TL1 = 0;//定时器数据要清零,以便下一次测距
TH1 = 0;
//1、Trig,给Trig端口至少10us的高电平,提醒超声波准备发波
startHC();
//2、Echo,从低变为高,表示开始发波
while(Echo == 0);
//2.1 波发出去的时候,启动定时器
TR1 = 1;//开始计时
//3、Echo,由高变为低,表示接收到返回来的波
while(Echo == 1);
//3.1 波回来的时候,停止定时器
TR1 = 0;//停止定时器
//4、计算中间经过的时间
time = (TH1 * 256 + TL1) * 1.085;//us为单位
//5、计算距离 距离= (340m/s) * (时间)/2
// 340m/s=34cm/ms=0.034cm/us
return (0.017 * time);
}
void Time0Init()
{
//1. 配置定时器0工作模式位16位计时
TMOD &= 0xF0;
TMOD |= 0x01;
//2. 给初值,定一个0.5ms出来
TL0=0x33;
TH0=0xFE;
//3. 开始计时
TR0 = 1;
TF0 = 0;
//打开定时器0的中断
ET0 = 1;
//打开中断总开关
EA = 1;
}
void sgLeft()
{
angle = 5;//
count = 0;
}
void sgMiddle()
{
angle = 3;//中间
count = 0;
}
void sgRight()
{
angle = 1;//向右转
count = 0;
}
void initSG90_0()
{
angle = 1;//初始化角度为0度,0.5ms的高电平
count = 0;//初始化周期
sg90_con = 1;//一上电就给sg90舵机一个高电平
}
void Time0Handler() interrupt 1//中断
{
count++;//统计爆表的次数
TL0 = 0x33;//重新给初值,使其重新计算0.5ms
TH0 = 0xFE;
//控制PWM波形
if(count < angle){
sg90_con = 1;
}else{
sg90_con = 0;
}
if(count == 40){//爆表了,给变量加1,加个40次就是20ms
count = 0;//当count为40时,表示20ms,此时让count=0,重新计算下一次的20ms,20ms为舵机一个周期
sg90_con = 1;
}
}
void goRotate()
{
IN1=1;
IN2=0;
PWMA=20;
IN3=0;
IN4=1;
PWMB=20;
}
void goForword()
{
IN1=1;
IN2=0;
PWMA=20; //左轮正转,PWM=40
IN3=1;
IN4=0;
PWMB=20; //右轮正转,PWM=40
}
void goBack()
{
IN1=0;
IN2=1;
PWMA=20; //左轮停转
IN3=0;
IN4=1;
PWMB=20; //右轮停转
}
void goRight()
{
IN1=1;
IN2=0;
PWMA=25; //左轮正转,PWM=25
IN3=0;
IN4=0;
PWMB=0; //右轮停转,PWM=0
}
void goLeft()
{
IN1=0;
IN2=0;
PWMA=0; //左轮停转,PWM=0
IN3=1;
IN4=0;
PWMB=25; //右轮正转,PWM=25
}
void Stop()
{
IN1=0;
IN2=0;
PWMA=0; //左轮停转
IN3=0;
IN4=0;
PWMB=0; //右轮停转
}
void main()
{
char dir;
double disMiddle;//中间距离
double disLeft;//左边距离
double disRight;//右边距离
Time0Init();//初始化定时器0
Time1Init();//初始化定时器1
sgMiddle();
Delay(900);
dir = MIDDLE;
while(1){
if(dir != MIDDLE){
sgMiddle();
Delay(450);
dir = MIDDLE;
}
disMiddle = get_distance();
if(disMiddle >40){
//前进
goForword();
}else if(disMiddle<20){
goBack();
}else{
//停止
Stop();
//测左边距离
sgLeft();
dir = LEFT;
Delay(450);
disLeft = get_distance();
//回到中间
sgMiddle();
Delay(450);
dir = MIDDLE;
Delay(450);
disMiddle = get_distance();
//测右边距离
sgRight();
dir = RIGHT;
Delay(450);
disRight = get_distance();
if(disLeft<disRight && disMiddle<disRight){
goRight();
Delay(350);
Stop();
}
if(disLeft>disRight && disLeft>disMiddle){
goLeft();
Delay(350);
Stop();
}
if(disLeft<disMiddle && disLeft<disMiddle){
goForword();
Delay(150);
Stop();
}
if(disLeft<15 && disMiddle<15 && disRight<15){
goRotate();
Delay(350);
Stop();
}
}
}
}
#include <reg52.h>
#include <Intrins.h>
sbit Trig = P2^1;
sbit Echo = P2^2;
sbit sg90_con = P1^1;
int count = 0;
int angle ;//定义舵机角度
sbit IN1=P3^4;
sbit IN2=P3^3;
sbit IN3=P3^2;
sbit IN4=P3^1;
unsigned char PWMA,PWMB;
#define MIDDLE 0
#define LEFT 1
#define RIGHT 2
void Delay(unsigned int xms) //@11.0592MHz
{
unsigned char i, j;
while(xms--)
{
i = 2;
j = 239;
do
{
while (--j);
} while (--i);
}
}
void Delay10us() //@11.0592MHz
{
unsigned char i;
i = 2;
while (--i);
}
void Time1Init()
{
TMOD &= 0x0F; //设置定时器1模式为16位
TMOD |= 0x10;
TL1 = 0;//设置定时器1从0开始数数,不着急启动定时器
TH1 = 0;
TF1 = 0;
}
void startHC()
{
Trig = 0;
Trig = 1;
Delay10us();
Trig = 0;
}
double get_distance()
{
double time;//时间
TL1 = 0;//定时器数据要清零,以便下一次测距
TH1 = 0;
//1、Trig,给Trig端口至少10us的高电平,提醒超声波准备发波
startHC();
//2、Echo,从低变为高,表示开始发波
while(Echo == 0);
//2.1 波发出去的时候,启动定时器
TR1 = 1;//开始计时
//3、Echo,由高变为低,表示接收到返回来的波
while(Echo == 1);
//3.1 波回来的时候,停止定时器
TR1 = 0;//停止定时器
//4、计算中间经过的时间
time = (TH1 * 256 + TL1) * 1.085;//us为单位
//5、计算距离 距离= (340m/s) * (时间)/2
// 340m/s=34cm/ms=0.034cm/us
return (0.017 * time);
}
void Time0Init()
{
//1. 配置定时器0工作模式位16位计时
TMOD &= 0xF0;
TMOD |= 0x01;
//2. 给初值,定一个0.5ms出来
TL0=0x33;
TH0=0xFE;
//3. 开始计时
TR0 = 1;
TF0 = 0;
//打开定时器0的中断
ET0 = 1;
//打开中断总开关
EA = 1;
}
void sgLeft()
{
angle = 5;//
count = 0;
}
void sgMiddle()
{
angle = 3;//中间
count = 0;
}
void sgRight()
{
angle = 1;//向右转
count = 0;
}
void initSG90_0()
{
angle = 1;//初始化角度为0度,0.5ms的高电平
count = 0;//初始化周期
sg90_con = 1;//一上电就给sg90舵机一个高电平
}
void Time0Handler() interrupt 1//中断
{
count++;//统计爆表的次数
TL0 = 0x33;//重新给初值,使其重新计算0.5ms
TH0 = 0xFE;
//控制PWM波形
if(count < angle){
sg90_con = 1;
}else{
sg90_con = 0;
}
if(count == 40){//爆表了,给变量加1,加个40次就是20ms
count = 0;//当count为40时,表示20ms,此时让count=0,重新计算下一次的20ms,20ms为舵机一个周期
sg90_con = 1;
}
}
void goRotate()
{
IN1=1;
IN2=0;
PWMA=20;
IN3=0;
IN4=1;
PWMB=20;
}
void goForword()
{
IN1=1;
IN2=0;
PWMA=20; //左轮正转,PWM=40
IN3=1;
IN4=0;
PWMB=20; //右轮正转,PWM=40
}
void goBack()
{
IN1=0;
IN2=1;
PWMA=20; //左轮停转
IN3=0;
IN4=1;
PWMB=20; //右轮停转
}
void goRight()
{
IN1=1;
IN2=0;
PWMA=25; //左轮正转,PWM=25
IN3=0;
IN4=0;
PWMB=0; //右轮停转,PWM=0
}
void goLeft()
{
IN1=0;
IN2=0;
PWMA=0; //左轮停转,PWM=0
IN3=1;
IN4=0;
PWMB=25; //右轮正转,PWM=25
}
void Stop()
{
IN1=0;
IN2=0;
PWMA=0; //左轮停转
IN3=0;
IN4=0;
PWMB=0; //右轮停转
}
void main()
{
char dir;
double disMiddle;//中间距离
double disLeft;//左边距离
double disRight;//右边距离
Time0Init();//初始化定时器0
Time1Init();//初始化定时器1
sgMiddle();
Delay(900);
dir = MIDDLE;
while(1){
if(dir != MIDDLE){
sgMiddle();
Delay(450);
dir = MIDDLE;
}
disMiddle = get_distance();
if(disMiddle >40){
//前进
goForword();
}else if(disMiddle<20){
goBack();
}else{
//停止
Stop();
//测左边距离
sgLeft();
dir = LEFT;
Delay(450);
disLeft = get_distance();
//回到中间
sgMiddle();
Delay(450);
dir = MIDDLE;
Delay(450);
disMiddle = get_distance();
//测右边距离
sgRight();
dir = RIGHT;
Delay(450);
disRight = get_distance();
if(disLeft<disRight && disMiddle<disRight){
goRight();
Delay(350);
Stop();
}
if(disLeft>disRight && disLeft>disMiddle){
goLeft();
Delay(350);
Stop();
}
if(disLeft<disMiddle && disLeft<disMiddle){
goForword();
Delay(150);
Stop();
}
if(disLeft<15 && disMiddle<15 && disRight<15){
goRotate();
Delay(350);
Stop();
}
}
}
}