C51——摇头避障小车实现

代码实现：

1.

main.c

#include "reg52.h"
#include "hc04.h"
#include "sg90.h"
#include "delay.h"
#include "motor.h"

#define MIDDLE 0
#define LEFT 1
#define RIGHT 2

void main()
{
	char dir;
	double dismiddle;
	double disleft;
	double disright;
	
	time0init();
	time1init();

	sgmiddle();//置于中间位置
	dir=MIDDLE;
  Delay300ms();
	Delay300ms();
	
  while(1){
		dismiddle=getdistance();
		if(dismiddle>25){
      //前进
			goforward();
    }else if(dismiddle<10){
      goback();
			Delay200ms();
			stop();
    }
		else{
			stop();
      //摇头测距+转弯
			sgleft();
			dir=LEFT;
			Delay300ms();
			disleft=getdistance();
			
			sgmiddle();
			
			sgright();
			dir=RIGHT;
			Delay300ms();
			disright=getdistance();
			
			if(disleft>disright){
        goleft();
		  	Delay300ms();
				stop();
      }
	  	if(disleft<disright){
        goright();
		  	Delay300ms();
				stop();
      }
    }
		if(dir!=MIDDLE){//解决舵机本来就在中间，还要回到中间位置，抽搐问题
		  sgmiddle();
			dir=MIDDLE;
		  Delay300ms();
		}
	}
}

 2.

motor.c

#include "reg52.h"

sbit right1=P3^2;
sbit right2=P3^3;
sbit left1=P3^4;
sbit left2=P3^5;


void goforwardleft()
{
  left1=0;
	left2=1;
}
void goforwardright()
{
	right1=0;
	right2=1;
}
void goforward()
{
  left1=0;
	left2=1;

	right1=0;
	right2=1;
}
void goback()
{
  left1=1;
	left2=0;
	right1=1;
	right2=0;
}
void goleft()
{
  left1=1;
	left2=0;
	right1=0;
	right2=1;
}
void goright()
{
  left1=0;
	left2=1;
	right1=1;
	right2=0;
}
void stop()
{
  left1=0;
	left2=0;
	right1=0;
	right2=0;
}
void stopleft()
{
  left1=0;
	left2=0;
;
}
void stopright()
{
	right1=0;
	right2=0;
}

motor.h

void goback();

void goforward();

void goleft();

void goright();

void stop();

void goforwardleft();

void goforwardright();

void stopleft();

void stopright();

 3.舵机

sg90.c

#include "reg52.h"
#include "delay.h"

sbit sg90=P1^1;
sbit D5=P3^7;
sbit D6=P3^6;
int jd;
int t=0;

void time0init()
{
	TMOD &= 0xF0;	
	TMOD |= 0x01;
	
	TL0=0x33;
	TH0=0xFE;

	TR0 = 1;
	TF0 = 0;

	ET0 = 1;

	EA = 1;
	
	D5=0;
}


void sgleft()
{
  jd = 5; 
	t  = 0;
  Delay450ms();
	 
}
void sgmiddle()
{
	jd = 3;
	t  = 0;
	Delay450ms();
}
void sgright()
{
	jd = 1;
	t  = 0;
	Delay450ms();
}

void time0hander() interrupt 1//定时器寄存器溢出,此时TF0=1，中断发生，TF0置0，重新循环
{
	t++;  

	TL0=0x33;
	TH0=0xFE;
	
	
	if(t < jd){
		sg90 = 1;
	}else{
		sg90 = 0;
	}
	
	if(t == 40){
		t = 0;  
		sg90 = 1;
	}
		
}

sg90.h

void time0init();

void initsg90();

void sgleft();

void sgmiddle();

void sgright();

 4.超声波

 hc04.c

#include "reg52.h"
#include "delay.h"

sbit trig=P2^3;
sbit echo=P2^2;

void time1init()
{
  TMOD &= 0x0F;//低四位不变，高四位清0	//定时器1模式
	TMOD |= 0x10;//高四位置1，低四位不变	
	TL1 = 0x00;	
	TH1 = 0x00;
}
void startHC()
{
  trig=0;
	trig=1;
	Delay10us();
	trig=0;
}

double getdistance()
{
	 double distance;
   double time;
	 time1init();//开始计时，初始化为0
	 startHC();//超声波模块发波，需要给trig10us的高电平
	 while(echo==0);//发波之前都维持低电平，当不是低电平就往下进行
	 TR1=1;//定时器开始计时
	 while(echo==1);//返回波之前都是高电平，当不是高电平不满足echo==1，向下进行
   TR1=0;//定时器结束计时
   time=(TH1*256+TL1)*1.085;//计算计数所对应的时间
	 distance=time*0.034/2;//340m/s=0.034cm/us  
		 return distance;
}

hc04.h

void time1init();

double getdistance();

 5.延时

delay.c

#include "intrins.h"

void Delay10us()		//@11.0592MHz
{
	unsigned char i;

	i = 2;
	while (--i);
}
void Delay2000ms()		//@11.0592MHz
{
	unsigned char i, j, k;

	_nop_();
	i = 15;
	j = 2;
	k = 235;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}

void Delay450ms()		//@11.0592MHz
{
	unsigned char i, j, k;

	_nop_();
	i = 4;
	j = 39;
	k = 209;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}
void Delay300ms()		//@11.0592MHz
{
	unsigned char i, j, k;

	_nop_();
	i = 3;
	j = 26;
	k = 223;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}
void Delay200ms()		//@11.0592MHz
{
	unsigned char i, j, k;

	_nop_();
	i = 2;
	j = 103;
	k = 147;
	do
	{
		do
		{
			while (--k);
		} while (--j);
	} while (--i);
}

delay.h

void Delay10us();		//@11.0592MHz

void Delay2000ms();		//@11.0592MHz

void Delay450ms();

void Delay300ms();

void Delay200ms();		//@11.0592MHz