2020-11-14

#include<stc8a8k.h>
#include<oled.h>
#include<delay.h>
#include "hpwm.h"
//左电机
sbit LPWM=P2^0;
sbit LA2=P0^4;
sbit LA1=P0^5;
//右电机
sbit RPWM=P2^1;
sbit RA2=P0^6;
sbit RA1=P0^7;
//接传感器
sbit L1S=P1^2;
sbit MS=P1^1;
sbit R1S=P1^0;

// sbit L1S=P1^0;
// sbit L0S=P1^1;
// sbit R0S=P1^2;
// sbit R1S=P1^3;
//定义黑白线的信号，根据实际模块定义,1是高电平，0是低电平
unsigned char blackline=1;
unsigned char whiteline=0;
//*************************************
sbit key=P3^4;//接按键

sbit beep=P0^3;//接蜂鸣器
sbit led=P0^0;//接LED报警灯

unsigned char keyflag=0;
unsigned char crossnum=0;
unsigned char startflag=0;
unsigned char LV=0,MV=0,RV=0,preLV=0,preMV=0,preRV=0;
//循迹函数声明，先声明后定义，不然main都不知道有这个函数，在main函数后面定义具体程序代码
void trackline0();
//这个是定义，不声明，后面main函数可以直接用,
//小车前进，根据速度两个轮子速度差，进行前进，转弯等
//vleft:0-1之间，是比例
//vright
void qianjin(float vleft,float vright)
{
  HPWM_Set(0,8000,vleft);
	LA2=1;
  LA1=0;
	
	HPWM_Set(1,8000,vright);
	RA2=1;
  RA1=0;
	
}
void back(float vleft,float vright)
{
  HPWM_Set(0,8000,vleft);
	LA2=0;
  LA1=1;
	
	HPWM_Set(1,8000,vright);
	RA2=1;
  RA1=0;
	
}
//小车停止
void stop()
{
 
	LA2=0;
  LA1=0;
	
	RA2=0;
  RA1=0;
}
//*******************************************主函数
void main()
{
  L1S=1;
	MS=1;
	R1S=1;
	OLED_Init();
	HPWM_Init();
	OLED_ShowString(0,0,"Please press start...");	
  delay_tms(100);
  while(1)
	{
		//*****************************
		//检测按键是不是按下，开始启动
		if(key==0)
		{
			delay_tms(10);//延时去抖动
			if(key==0)
			{	
				startflag=1;
			  OLED_ShowString(0,0,"I am running...");	
				//开机先动一下
				qianjin(0.35,0.35);//
				delay_tms(1000);//延时
				stop();
				delay_tms(2000);//延时
			}
		}
		//**********************如果开始标记等于1，说明按下启动键，这时候小车才开始跑
		if(startflag==1)
		{
			//开始循迹，请看这部分代码,太长了，单独拉出来写，方便看主程序逻辑
			
			trackline0();	
	
		}
			
	}
}

//trackline0();
void trackline0()
{
	
	if(L1S==0)LV=0;
	else LV=1;
	
	if(MS==0)MV=0;
	else MV=1;
	
	if(R1S==0)RV=0;
	
	else RV=1;

	if(LV==blackline && MV==whiteline && RV==whiteline)//1 00  
	{
		qianjin(0.25,0.45);//左转弯
	}
	else 	if(LV==whiteline && MV==blackline && RV==whiteline)//0 1 0 
	{
		qianjin(0.3,0.3);//直走
	}
	
	else 	if(LV==whiteline  && MV==whiteline&& RV==blackline)// 00 1 
	{
		qianjin(0.45,0.25);//右转弯
	}
	
	else 	if(LV==blackline && MV==blackline && RV==whiteline)//110 判断是左转90度
	{
			stop();
		 delay_tms(2000);
// 		  qianjin(0.25,0.25);//直走
// 		  delay_tms(20);
		  qianjin(0.05,0.55);//左转弯
		//back(0.35,0.35);
		 while(1)
			{
				delay_tms(20);
				if(R1S==blackline)break;
			}
		
		
	}
	else 	if(LV==whiteline && MV==blackline && RV==blackline)//011 判断是右转90度
	{
				stop();
		 delay_tms(2000);
  		 qianjin(0.45,0.05);//直走
	  delay_tms(30);
// 			  back(0.35,0.35);
		  while(1)
				 
			{ delay_tms(20);
				if(L1S==blackline)break;
			}
		
	}
		else 	if(LV==blackline && MV==blackline && RV==blackline)//111 判断是终点，调头
	{
				stop();
		 delay_tms(2000);
		qianjin(0.35,0.35);
		delay_tms(500);
	  	back(0.35,0.35);
			  delay_tms(500);
			  while(1)//如果中间的传感器碰到黑线，就跳出循环
				{		  delay_tms(20);
					if(MS==blackline)
						break;
				}
	}
		else 	if(LV==whiteline && MV==whiteline && RV==whiteline)//000找不到直线，如如果前面是直走，就转360度，如果是之前右边，就左转，之前左偏，就右转
	{
		if(preLV==whiteline && preMV==blackline && preRV==whiteline)//0 1 0，就调头，右转，
		{
				qianjin(0.4,0.15);//右转弯
			  delay_tms(500);
			  while(1)//如果中间的传感器碰到黑线，就跳出循环
				{		
					if(R1S==1)
						break;
				}
			
		}
			if(preLV==blackline  && preRV==whiteline)//1 0，之前是左偏，那么就右转
		{
		   qianjin(0.4,0.1);//
				
		}
			if(preLV==whiteline  && preRV==blackline)//01，之前是右偏，那么就左转
		{
		   qianjin(0.1,0.4);//
				
		}
		if(preLV==blackline && preMV==blackline && preRV==blackline)//111，之前三叉路口，就右转
		{
			qianjin(0.4,0.1);//
			
		}
		return;		
	}
			preLV=LV;
			preMV=MV;
			preRV=RV;
				
}