思路:不加控制时让小车往一边偏着走,当传感器探测到偏到一定程度时加以回正,再继续;做到一个传感器走直线,顺便能把直角弯给拐了
/****************************************************************************
硬件连接
P1_6 接驱动模块ENA 使能端,输入PWM信号调节速度
P1_7 接驱动模块ENB 使能端,输入PWM信号调节速度
P3_4 P3_5 接IN1 IN2 当 P3_4=1,P3_5=0; 时左电机正转 驱动蓝色输出端OUT1 OUT2接左电机
P3_4 P3_5 接IN1 IN2 当 P3_4=0,P3_5=1; 时左电机反转
P3_6 P3_7 接IN3 IN4 当 P3_6=1,P3_7=0; 时右电机正转 驱动蓝色输出端OUT3 OUT4接右电机
P3_6 P3_7 接IN3 IN4 当 P3_6=0,P3_7=1; 时右电机反转
关于单片机电源:本店驱动模块内带LDO稳压芯片,当电池输入最低的电压6V时候可以输出稳定的5V
分别在针脚标+5 与GND 。这个电源可以作为单片机系统的供电电源。
****************************************************************************/
#include<AT89x51.H>
#define Left_moto_pwm P1_6
#define Right_moto_pwm P1_7
#define Left_moto_go {P3_2=0,P3_3=1;}
#define Left_moto_back {P3_2=1,P3_3=0;}
#define Right_moto_go {P3_6=0,P3_7=1;}
#define Right_moto_back {P3_6=1,P3_7=0;}
unsigned char pwm_val_left =0;
unsigned char push_val_left =0;
unsigned char pwm_val_right =0;
unsigned char push_val_right=0;
bit Right_moto_stop=1;
bit Left_moto_stop =1;
unsigned int time=0;
int a=0;
/************************************************************************/
/************************************************************************/
void pwm_out_left_moto(void)
{
if(Left_moto_stop)
{
if(pwm_val_left<=push_val_left)
Left_moto_pwm=1;
else
Left_moto_pwm=0;
if(pwm_val_left>=22)
pwm_val_left=0;
}
else Left_moto_pwm=0;
}
/******************************************************************/
void pwm_out_right_moto(void)
{
if(Right_moto_stop)
{
if(pwm_val_right<=push_val_right)
Right_moto_pwm=1;
else
Right_moto_pwm=0;
if(pwm_val_right>=22)
pwm_val_right=0;
}
else Right_moto_pwm=0;
}
/***************************************************/
void timer0()interrupt 1 using 2
{
TH0=0XF8;
TL0=0X30;
time++;
pwm_val_left++;
pwm_val_right++;
pwm_out_left_moto();
pwm_out_right_moto();
}
/***************************************************/
void main(void)
{
TMOD=0X01;
TH0= 0XF8;
TL0= 0X30;
TR0= 1;
ET0= 1;
EA = 1;
while(1)
{
if(P0_3==0)
{
while(P0_7==1)
{
Left_moto_back;Right_moto_go;push_val_left =2;push_val_right =2;
}
while(P0_2==0)
{
if(P0_7==0||P0_6==0||P0_4==0)
{
Left_moto_back;Right_moto_back;push_val_left =3;push_val_right =1;
}
if(P0_4==1)
{
Left_moto_back;Right_moto_back;push_val_left =1;push_val_right =3;
}
}
}
if(P0_5==0)
{
while(P0_7==1)
{
Left_moto_back;Right_moto_back;push_val_left =2;push_val_right =2;
}
while(P0_2==0)
{
if(P0_7==0||P0_6==0||P0_4==0)
{
Left_moto_back;Right_moto_back; push_val_left =3;push_val_right =1;
}
if(P0_4==1)
{
Left_moto_back;Right_moto_back;push_val_left =1;push_val_right =3;
}
}
}
if(P0_3==1)
{ P0_0=0;
Left_moto_back;Right_moto_back;
if(P0_2==0)
{
if(P0_1==1)
{
push_val_left =4; push_val_right =1;
}
else
{
push_val_left =1;push_val_right =4;
}
}
else
{
push_val_left =2;push_val_right =0;
}
}
}
}