51单片机实现跟随小车

51单片机实现跟随小车

红外壁障模块分析

跟随小车的原理：

原理和循迹是一样的，循迹红外观朝下，跟随朝前
左边跟随模块能返回红外，输出低电平，右边不能返回，输出高电平，说明物体在左边，需要左转
右边跟随模块能返回红外，输出低电平，左边不能返回，输出高电平，说明物体在右边，需要右转

分文件编程
代码如下：

mainc:

#include “reg52.h”
#include “motor.h”
#include “delay.h”

sbit leftSensor = P2^5;
sbit rightSensor = P2^4;

void main()
{

//左边跟随模块能返回红外，输出低电平，右边不能返回，输出高电平，说明物体在左边，需要左转

//右边跟随模块能返回红外，输出低电平，左边不能返回，输出高电平，说明物体在右边，需要右转
while(1){
if(leftSensor == 0 && rightSensor == 0){
goForword();
}
if(leftSensor == 0 && rightSensor == 1){
goLeft();
}
if(leftSensor == 1 && rightSensor == 0){
goRight();
}
if(leftSensor == 1 && rightSensor == 1){
Stop();
}

}

}

motor.c:

#include “reg52.h”

sbit RightCon1A = P3^2;
sbit RightCon1B = P3^3;

sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;

void goForword()
{
RightCon1A = 0;
RightCon1B = 1;

LeftCon1A = 0;
LeftCon1B = 1;

}

void goBack()
{
RightCon1A = 1;
RightCon1B = 0;

LeftCon1A = 1;
LeftCon1B = 0;

}

void goRight()
{
RightCon1A = 0;
RightCon1B = 0;

LeftCon1A = 0;
LeftCon1B = 1;

}

void goLeft()
{
RightCon1A = 0;
RightCon1B = 1;

LeftCon1A = 0;
LeftCon1B = 0;

}

void Stop()
{
RightCon1A = 0;
RightCon1B = 0;

LeftCon1A = 0;
LeftCon1B = 0;

}

delay.c:

#include “intrins.h”

void Delay1000ms() //@11.0592MHz
{
unsigned char i, j, k;

_nop_();
i = 8;
j = 1;
k = 243;
do
{
	do
	{
		while (--k);
	} while (--j);
} while (--i);

}

motor.h:

void goForword();
void goBack();
void goRight();
void goLeft();
void Stop();

delay.h:

void Delay1000ms();

成果图：