51单片机使用语音模块控制小车实现循迹、跟随、避障模式的转换以及控制

语音模块为SU-03T

分文件编程
代码如下：

main.c:

#include “reg52.h”
#include “delay.h”
#include “hc04.h”
#include “sg90.h”
#include “motor.h”

sbit leftSensorX = P2^7;
sbit rightSensorX = P2^6;

sbit leftSensorG = P2^5;
sbit rightSensorG = P2^4;

sbit A25 = P1^5;
sbit A26 = P1^6;
sbit A27 = P1^7;

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

char dir;
double disMiddle;//中间距离
double disLeft;//左边距离
double disRight;//右边距离

void xunjiMode()
{
if(leftSensorX == 0 && rightSensorX == 0){
goForword();
}
if(leftSensorX == 1 && rightSensorX == 0){
goLeft();
}
if(leftSensorX == 0 && rightSensorX == 1){
goRight();
}
if(leftSensorX == 1 && rightSensorX == 1){
Stop();
}

}

void gensuiMode()
{
if(leftSensorG == 0 && rightSensorG == 0){
goForword();
}
if(leftSensorG == 0 && rightSensorG == 1){
goLeft();
}
if(leftSensorG == 1 && rightSensorG == 0){
goRight();
}
if(leftSensorG == 1 && rightSensorG == 1){
Stop();
}
}

void bizhangMode()
{
if(dir != MIDDLE){
sgMiddle();
Delay450ms();
dir = MIDDLE;
}
disMiddle = get_distance();
if(disMiddle > 35){
//前进
goForword();
}else if(disMiddle<10){
goBack();

	}else{
		//停止
		Stop();
		//测左边距离
		sgLeft();
		dir = LEFT;
		Delay450ms();
		disLeft = get_distance();
		
		//回到中间
		sgMiddle();
		Delay450ms();
		
		//测右边距离
		sgRight();
		dir = RIGHT;
		Delay450ms();
		disRight = get_distance();
		
		if(disLeft<disRight){
			goRight();
			Delay150ms();
			Stop();

		}
		if(disLeft>disRight){
			goLeft();
			Delay150ms();
			Stop();
		}

	}

}

void main()
{

Time0Init();//初始化定时器0
Time1Init();//初始化定时器1

sgMiddle();
Delay450ms();
Delay450ms();
dir = MIDDLE;

while(1){
	
	if(A25==0 && A26==1 && A27==1){//循迹模式
		xunjiMode();
	}
	if(A25==1 && A26==0 && A27==1){//跟随模式
		gensuiMode();
	}
	if(A25==1 && A26==1 && A27==0){//避障模式
		bizhangMode();
	}
	if(A25==0 && A26==0 && A27==0){//停止
		Stop();
	}

	

}

}

hc04.c:

#include “reg52.h”
#include “delay.h”

sbit Trig = P2^3;
sbit Echo = P2^2;

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);

}

delay.c:

#include “Intrins.h”

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 Delay150ms() //@11.0592MHz
{
unsigned char i, j, k;

_nop_();
i = 2;
j = 13;
k = 237;
do
{
	do
	{
		while (--k);
	} while (--j);
} while (--i);

}

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

i = 2;
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);

}

sg90.c:

#include “reg52.h”
#include “delay.h”

sbit sg90_con = P1^1;

int count = 0;
int angle ;//定义舵机角度

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 = 6;//中间
count = 0;
}

void sgMiddle()
{
angle = 3;//中间
count = 0;
}

void sgRight()
{
angle = 1;//向右转
count = 0;
}

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;
		
}

}

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;

}

hc04.h:

double get_distance();
void Time1Init();

delay.h:

void Delay2000ms();
void Delay150ms();
void Delay10us();
void Delay450ms();

sg90.h:

void Time0Init();
void sgMiddle();
void sgRight();
void sgLeft();

motor.h:

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

成果图: