07年国赛电动车上跷跷板程序源码

最新推荐文章于 2021-06-15 20:24:33 发布

qq_18536597

最新推荐文章于 2021-06-15 20:24:33 发布

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07年国赛电动车上跷跷板程序源码，大家可以参考一下：

#include <mega16.h>
#include <delay.h>
// USART控制和状态寄存器的标志位定义
#define RXC 7 // UCSRA位定义
#define TXC 6
#define UDRE 5
#define FE 4
#define DOR 3
#define PE 2
#define U2X 1
#define MPCM 0
#define RXCIE 7 // UCSRB位定义
#define TXCIE 6
#define UDRIE 5
#define RXEN 4
#define TXEN 3
#define UCSZ2 2
#define RXB8 1
#define TXB8 0
#define URSEL 7 // UCSRC位定义
#define UMSEL 6
#define UPM1 5
#define UPM0 4
#define USBS 3
#define UCSZ1 2
#define UCSZ0 1
#define UCPOL 0
#define FRAMING_ERROR (1<<FE)
#define PARITY_ERROR (1<<PE)
#define DATA_OVERRUN (1<<DOR)
#define DATA_REGISTER_EMPTY (1<<UDRE)
#define MOTOR_L1 PORTB.0 //电机
#define MOTOR_L2 PORTB.1
#define MOTOR_R1 PORTB.2
#define MOTOR_R2 PORTB.3
#define BW_LEFT PINA.0 //黑白线
#define BW_RIGHT PINA.1
#define BUZZER PORTA.3 //蜂鸣器
#define NULL 0x00
#define LEFT 0x01
#define RIGHT 0x02
#define BAL_START 0x03
#define BAL 0x04
#define BAL_OK 0x05
#define GET_B 0x06
#define B_OK 0x07
#define A_OK 0x08
#define MODE_B 0x09
#define MODE_P 0x0A
#define BAL_AGAIN 0x0B
#define FULL 0xFF
unsigned char tran = 5; //USART数据
bit receive_ok = 0;
bit dir = 0;
bit mode2 = 0;
unsigned char delay_dir = 0;
interrupt [USART_RXC] void usart_rx_isr(void) // USART接收中断服务
{
unsigned char status,data;
status = UCSRA;
data = UDR;
if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)
{
tran = data;
receive_ok = 1;
}
}
void USART_Transmit(unsigned char data)
{
while (!(UCSRA & DATA_REGISTER_EMPTY)); // 等待发送寄存器空
UDR = data; // 发送数据
}
void motor_direct(unsigned char direct) //电机换向
{
if(direct == 0)
{
MOTOR_L1 = 0;
MOTOR_L2 = 1;
MOTOR_R1 = 0;
MOTOR_R2 = 1;
}
if(direct == 1)
{
MOTOR_L1 = 1;
MOTOR_L2 = 0;
MOTOR_R1 = 1;
MOTOR_R2 = 0;
}
}
void motor_start(void) //电机启动
{
if(dir == 0)
{
MOTOR_L1 = 0;
MOTOR_L2 = 1;
MOTOR_R1 = 0;
MOTOR_R2 = 1;
}
if(dir == 1)
{
MOTOR_L1 = 1;
MOTOR_L2 = 0;
MOTOR_R1 = 1;
MOTOR_R2 = 0;
}
}
void motor_stop(void) //电机停止
{
MOTOR_L1 = 1;
MOTOR_L2 = 1;
MOTOR_R1 = 1;
MOTOR_R2 = 1;
}
void motor_jerk(unsigned int time ,unsigned char direct_stop)
{
motor_direct(direct_stop);
delay_ms(time);
motor_stop();
}
void buzzer_voice(void)
{
BUZZER = 1;
delay_ms(500);
BUZZER = 0;
}
void mode_pro(void)
{
unsigned char cache = 0;
bit once = 0,balance_again = 0;
//buzzer_voice();
motor_start(); //电机开启
delay_ms(500);
motor_stop();
while(1)
{
if(BW_RIGHT == 1 && BW_LEFT == 0)
{
OCR1AH=0xef;
OCR1AL=0xFF;
OCR1BH=0xaf;
OCR1BL=0xFF;
delay_ms(300);
motor_jerk(150,0);
OCR1BH=0xef;
OCR1BL=0xFF;
OCR1AH=0x00;
OCR1AL=0xFF;
delay_ms(300);
motor_jerk(200,1);
delay_dir = 1;
}
else if(BW_RIGHT == 0 && BW_LEFT == 1)
{
OCR1BH=0xef;
OCR1BL=0xFF;
OCR1AH=0xaf;
OCR1AL=0xFF;
delay_ms(300);
motor_jerk(150,0);
OCR1AH=0xef;
OCR1AL=0xFF;
OCR1BH=0x00;
OCR1BL=0xFF;
delay_ms(300);
motor_jerk(200,1);
delay_dir = 2;
}
else if(BW_RIGHT == 0 && BW_LEFT == 0)
{
OCR1AH=0xc0;
OCR1AL=0xFF;
OCR1BH=0xf0;
OCR1BL=0xFF;
motor_jerk(30,0);
}
else if(BW_RIGHT == 1 && BW_LEFT == 1)
{
/*if(delay_dir == 1)
{
OCR1AH=0xef;
OCR1AL=0xFF;
OCR1BH=0xaf;
OCR1BL=0xFF;
delay_ms(300);
motor_jerk(150,0);
OCR1BH=0xef;
OCR1BL=0xFF;
OCR1AH=0x00;
OCR1AL=0xFF;
delay_ms(300);
motor_jerk(200,1);
}
else if(delay_dir == 2)
{
OCR1BH=0xef;
OCR1BL=0xFF;
OCR1AH=0xaf;
OCR1AL=0xFF;
delay_ms(300);
motor_jerk(150,0);
OCR1AH=0xef;
OCR1AL=0xFF;
OCR1BH=0x00;
OCR1BL=0xFF;
delay_ms(300);
motor_jerk(200,1);
}*/
break;
}
delay_ms(400);
};
OCR1AH=0xef;
OCR1AL=0xFF;
OCR1BH=0xef;
OCR1BL=0xFF;
buzzer_voice();
motor_start(); //电机开启
delay_ms(1000);
motor_stop();
again:
delay_ms(1000);
USART_Transmit(BAL_START);
USART_Transmit(BAL_START);
USART_Transmit(BAL_START);
USART_Transmit(BAL_START);
USART_Transmit(BAL_START);
while (1) //找平衡
{
cache = tran;
if(receive_ok == 1 && cache == LEFT)
{
motor_jerk(30,1);
delay_ms(800);
}
else if(receive_ok == 1 && cache == RIGHT)
{
motor_jerk(30,0);
delay_ms(800);
}
else
{
motor_stop();
if(cache == BAL && once == 0)
{
buzzer_voice();
once = 1;
}
if(cache == BAL_OK)
{
buzzer_voice();
break;
}
}
}
if(balance_again == 0)
{
while(1)
{
if(tran == BAL_AGAIN)
break;
delay_ms(100);
}
balance_again = 1;
once = 0;
receive_ok = 0;
goto again;
}
motor_jerk(150,0);
while (1)
{
if(BW_LEFT == 1 && BW_RIGHT == 1)
{
USART_Transmit(GET_B);
USART_Transmit(GET_B);
USART_Transmit(GET_B);
USART_Transmit(GET_B);
USART_Transmit(GET_B);
break;
}
else
{
motor_jerk(30,0);
delay_ms(800);
}
}
while (1)
{
if(tran == B_OK)
break;
};
motor_jerk(1200,1);
while (1)
{
if(BW_LEFT == 1 && BW_RIGHT == 1)
{
motor_jerk(30,1);
delay_ms(500);
motor_jerk(30,1);
delay_ms(500);
motor_jerk(30,1);
break;
}
else
{
motor_jerk(40,1);
delay_ms(800);
}
};
USART_Transmit(A_OK);
USART_Transmit(A_OK);
USART_Transmit(A_OK);
USART_Transmit(A_OK);
USART_Transmit(A_OK);
while (1)
{
};
}
void main(void)
{
unsigned char cache = 0;
bit once = 0;
//unsigned char middle,balance,B,A;
//unsigned char time_h[10] = {0},time_m[10] = {0},time_s[10] = {0};
//unsigned char *mid = ""
// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=Out Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=0 State2=P State1=P State0=P
PORTA=0x07;
DDRA=0x08;
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=Out Func2=Out Func1=Out Func0=Out
// State7=T State6=T State5=T State4=T State3=0 State2=0 State1=0 State0=0
PORTB = 0x00;
DDRB=0x0F;
// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x00;
DDRC=0x00;
// Port D initialization
// Func7=In Func6=Out Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In
// State7=T State6=1 State5=0 State4=0 State3=T State2=T State1=T State0=T
PORTD=0x40;
DDRD=0x70;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 14.400 kHz
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 14745.600 kHz
// Mode: Fast PWM top=ICR1
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0xA2;
TCCR1B=0x19;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0xFF;
ICR1L=0xFF;
OCR1AH=0xef;
OCR1AL=0xFF;
OCR1BH=0xef;
OCR1BL=0xFF;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud Rate: 19200
UCSRA=0x00;
UCSRB=0x98;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x2F;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x01;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// Global enable interrupts
#asm("sei")
if(BW_LEFT == 1 && BW_RIGHT == 1)
{
mode2 = 1;
USART_Transmit(MODE_P);
USART_Transmit(MODE_P);
delay_ms(400);
USART_Transmit(MODE_P);
USART_Transmit(MODE_P);
delay_ms(400);
USART_Transmit(MODE_P);
mode_pro();
}
USART_Transmit(MODE_B);
USART_Transmit(MODE_B);
delay_ms(400);
USART_Transmit(MODE_B);
USART_Transmit(MODE_B);
delay_ms(400);
USART_Transmit(MODE_B);
buzzer_voice();
motor_start(); //电机开启
delay_ms(1000);
motor_stop();
delay_ms(1000);
USART_Transmit(BAL_START);
USART_Transmit(BAL_START);
USART_Transmit(BAL_START);
USART_Transmit(BAL_START);
USART_Transmit(BAL_START);
while (1) //找平衡
{
cache = tran;
if(receive_ok == 1 && cache == LEFT)
{
motor_jerk(30,1);
delay_ms(800);
}
else if(receive_ok == 1 && cache == RIGHT)
{
motor_jerk(30,0);
delay_ms(800);
}
else
{
motor_stop();
if(cache == BAL && once == 0)
{
buzzer_voice();
once = 1;
}
if(cache == BAL_OK)
{
buzzer_voice();
break;
}
}
}
motor_jerk(200,0);
while (1)
{
if(BW_LEFT == 1 && BW_RIGHT == 1)
{
USART_Transmit(GET_B);
USART_Transmit(GET_B);
USART_Transmit(GET_B);
USART_Transmit(GET_B);
USART_Transmit(GET_B);
break;
}
else
{
motor_jerk(30,0);
delay_ms(800);
}
}
while (1)
{
if(tran == B_OK)
break;
};
motor_jerk(1200,1);
while (1)
{
if(BW_LEFT == 1 && BW_RIGHT == 1)
{
motor_jerk(30,1);
delay_ms(500);
motor_jerk(30,1);
delay_ms(500);
motor_jerk(30,1);
break;
}
else
{
motor_jerk(40,1);
delay_ms(800);
}
};
USART_Transmit(A_OK);
USART_Transmit(A_OK);
USART_Transmit(A_OK);
USART_Transmit(A_OK);
USART_Transmit(A_OK);
while (1)
{
};
}

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07年国赛电动车上跷跷板程序源码

07年国赛电动车上跷跷板程序源码，大家可以参考一下： #include <mega16.h> #include <delay.h> // USART控制和状态寄存器的标志位定义 #define RXC7 // UCSRA位定义 #define TXC6 #defin...
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