AT89C52红外循迹智能车代码

最新推荐文章于 2023-12-17 23:06:48 发布

黎明之…

最新推荐文章于 2023-12-17 23:06:48 发布

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文章标签：单片机嵌入式硬件 c语言硬件工程

本文链接：https://blog.csdn.net/m0_60636171/article/details/125591555

版权

C51红外循迹小车

PWM占空比

定时器中断

L298N驱动

#include <REGX52.H>

#define uchar unsigned char
#define uint unsigned 



sbit IN1=P1^0;
sbit IN2=P1^1;
sbit IN3=P1^4;
sbit IN4=P1^5;

sbit left1=P3^1;
sbit right1=P3^2;
sbit ENA=P1^7;
sbit ENB=P1^6;

uchar zkb1=0;
uchar zkb2=0;
uchar t=0;

void delay_ms(uint n)
{
	uint i,j;
	for(i=0;i<n;i++)
		for(j=0;j<114;j++);
}

void init()
{
	EA=1;	
	ET0=1;
	TMOD=0x01;
	TH0=(65536-20)/256;
	TL0=(65536-20)%256;
	TR0=1;
}

void turnleft()
{
	zkb1 = 23;
	zkb2 = 6;
	IN1=0; IN2=1;
	IN4=0; IN3=1;
}

void turnright()
{
	zkb1 = 6;
	zkb2 = 23;
	IN1=0; IN2=1;
	IN4=0; IN3=1;
}

void stright()
{
	zkb1=23;
	zkb2=23;
	IN1=0;IN2=1; 
	IN4=0;IN3=1;
}

void stop()
{
	IN1=1; IN2=1;
	IN4=1; IN3=1;
}

void xunji()
{

		if((left1 == 0)&&(right1 == 0))
		{
			stright();
		}
	    if((left1 == 1)&&(right1 == 0))
    	{
			turnleft();
		}
		if((left1 == 0)&&(right1 == 1))
		{
			turnright();
		}
	   
     	if((left1 == 1)&&(right1 == 1))
    	{stop();	 	}
	
		}
void main()
{
	init();
	IN1 = 0;
	IN2 = 1;
    IN4 = 0;
    IN3 = 1;
	while(1)
	{
			xunji();
	}
}

void time() interrupt 1
{
	TH0 = (65536 - 20) / 256;
	TL0 = (65536 - 20) % 256;
	
	if(t < zkb1)
	{
		ENA = 1;
	}
	else 
	{
		ENA = 0;
	}
	
	if(t < zkb2)
	{
		ENB =1;
	}
	else 
	{
		ENB = 0;
	}
	t++;
	if(t >= 50)
	{
		t = 0;
	}
}