51寻迹小车基础代码

    网上的寻迹小车代码千奇百怪，多数代码功能不全或是逻辑不清晰。为方便大家更快上手寻迹小车， 我找了一篇逻辑相对清晰的基础循迹代码，并自己加了些注释供大家参考。

    【此代码不能完全契合每个人的小车，不能优秀的完成180°转向或是多元赛道等题目。仅给大家提供一个相对清晰的代码编写思路。想要完成所有赛题还需在此基础上补充完善】

#include<reg52.h>
typedef unsigned int u16;
typedef unsigned char u8;


/******************************/
此处六个端口对应L298N的六条信号线
/******************************/

sbit ENA = P2^0;   //右点机使能，输出pwm
sbit IN1 = P2^1;   //为0右轮反转
sbit IN2 = P2^2;   //为0右轮正转
sbit IN3 = P2^3;   //为0左轮正转
sbit IN4 = P2^4;   //为0左轮反转
sbit ENB = P2^5;   //左电机使能，输出pwm

/*******************************/
此处四个端口对应循迹模块的四条信号线
/*******************************/

sbit left1 = P1^3;
sbit left2 = P1^2;
sbit right1 = P1^1;
sbit right2 = P1^0;

u8 PWMCnt1 = 0;
u8 PWMCnt2 = 0;
u8 cntPWM1 = 0;
u8 cntPWM2 = 0;

void Timer0Init();
void XunJi();

void main()
{
	Timer0Init(); //定时器0初始化
	while(1)
	{
		XunJi(); 主循环持续循迹

	}	
}

/*******************************/
延时函数（备用）本代码暂时没用到
/*******************************/
// i = 1时， 大概延时10us（最大65535）
//void delay(u16 i)
//{
//    while (i--);
//}

void Timer0Init()//定时器初始化函数，直接复制不用看懂
{
	TH0 = 0xFF;
	TL0 = 0xA3;
	TMOD &= 0xF0;
	TMOD |= 0x01;
	EA = 1;
	ET0 = 1;
	TR0 = 1;
}

void TurnRight1()		   //右转
{
	IN1 = 0;	//右轮反转
	IN2 = 1;

	IN3 = 0;	//左轮正转
	IN4 = 1;
	cntPWM1 = 70;//pwm设置用于调节转速（下边代码同理）
	cntPWM2	= 55;
}

void TurnRight2()		   //右转
{
	IN1 = 0;	//右轮反转
	IN2 = 1;

	IN3 = 0;	//左轮正转
	IN4 = 1;
	cntPWM1 = 50;
	cntPWM2	= 40;
}

void TurnLeft1()				//左转
{
	IN1 = 1;
	IN2 = 0;   	//右轮正转

	IN3 = 1;
	IN4 = 0;   	//左轮反转
	cntPWM1 = 55;
	cntPWM2	= 70;
}			  	

void TurnLeft2()				//左转
{
	IN1 = 1;
	IN2 = 0;   	//右轮正转

	IN3 = 1;
	IN4 = 0;   	//左轮反转
	cntPWM1 = 40;
	cntPWM2	= 50;
}	
	
void Forward()				 //前进
{
	IN1 = 1;
	IN2 = 0;   	//右轮正转

	IN3 = 0;   	//左轮正转
	IN4 = 1;

	cntPWM1 = 40;
	cntPWM2	= 40;
}

//void Backward()					 //后退
//{
//	IN1 = 0;	//右轮反转
//	IN2 = 1;
//
//	IN3 = 1;
//	IN4 = 0;	//左轮反转
//	cntPWM1 = 30;
//	cntPWM2	= 30;
//}

void Stop()					  //停止
{
	IN1 = 0;
	IN2 = 0;

	IN3 = 0;
	IN4 = 0;
}
void XunJi()//此处代码是需要重点理解的，内涵循迹逻辑，根据实际情况自行增补

{
	unsigned char flag = 0;
    //flag变量用于存储小车行进状态（行进状态由对四路传感器妆台的判断而来）

	if((left1 == 0)&&(left2 == 0)&&(right1 == 0)&&(right2 == 0))   //四路传感器状态：0 0 0 0
		flag = 0;

	if((left1 == 0)&&(left2 == 0)&&(right1 == 0)&&(right2 == 1))   //0 0 0 1
		flag = 1;

	if((left1 == 0)&&(left2 == 0)&&(right1 == 1)&&(right2 == 0))   //0 0 1 0
		flag = 0;

	if((left1 == 0)&&(left2 == 0)&&(right1 == 1)&&(right2 == 1))   //0 0 1 1
		flag = 1;

	if((left1 == 0)&&(left2 == 1)&&(right1 == 0)&&(right2 == 0))   //0 1 0 0
		flag = 0;

	if((left1 == 0)&&(left2 == 1)&&(right1 == 0)&&(right2 == 1))   //0 1 0 1
		flag = 4;

	if((left1 == 0)&&(left2 == 1)&&(right1 == 1)&&(right2 == 0))   //0 1 1 0
		flag = 0;
	
	if((left1 == 0)&&(left2 == 1)&&(right1 == 1)&&(right2 == 1))    //0 1 1 1
		flag = 1;
	
	if((left1 == 1)&&(left2 == 0)&&(right1 == 0)&&(right2 == 0))   //1 0 0 0
		flag = 3;
	
	if((left1 == 1)&&(left2 == 0)&&(right1 == 0)&&(right2 == 1))   //1 0 0 1
		flag = 0;
	
	if((left1 == 1)&&(left2 == 0)&&(right1 == 1)&&(right2 == 0))   //1 0 1 0
		flag = 2;
	// ?
	if((left1 == 1)&&(left2 == 0)&&(right1 == 1)&&(right2 == 1))   //1 0 1 1
		flag = 0;
	
	if((left1 == 1)&&(left2 == 1)&&(right1 == 0)&&(right2 == 0))   //1 1 0 0
		flag = 3;
	 //?
	if((left1 == 1)&&(left2 == 1)&&(right1 == 0)&&(right2 == 1))   //1 1 0 1
		flag = 0;

	if((left1 == 1)&&(left2 == 1)&&(right1 == 1)&&(right2 == 0))   //1 1 1 0
		flag = 3;
	
	if((left1 == 1)&&(left2 == 1)&&(right1 == 1)&&(right2 == 1))   //1 1 1 1
		flag = 5;
	
	switch(flag)//根据“状态flag”改变小车行进模式
	
{
		case 0:Forward();break;
		
		
		case 1:TurnRight1();break;
		
		
		case 2:TurnRight2();break;
		
		
		case 3:TurnLeft1();break;
		
		
		case 4:TurnLeft2();break;


		default:Stop();break;
	}
}

void InterruptTime0() interrupt 1//定时器相关函数（不用读懂直接粘贴）
{
	PWMCnt1++;
	PWMCnt2++;
	
	if(PWMCnt1  >= 200)
	{
		PWMCnt1 = 0;
	}
	if(PWMCnt1 <= cntPWM1)
	{
		ENA = 1;
	}
	else
	{
		ENA = 0;
	}

	if(PWMCnt2 >= 200)
	{
		PWMCnt2 = 0;
	}
	if(PWMCnt2 <= cntPWM2)
	{
		ENB = 1;
	}
	else
	{
		ENB = 0;
	}

	TH0 = (65536 - 50)/256;
	TL0 = (65536 - 50)%256;
}

【 附加讲解】

如果想要根据赛道调试小车，主要需要从两方面着手修改代码逻辑：

1、修改或增加TurnRight1()、TurnRight2()、TurnLeft1()、TurnLeft2()等控制行进模式的代码，调节里边的点机正反转逻辑或者左右速度差（pwm参数）

2、着重修改XunJi()函数，适当增加对各种情况判断语句，各种适应赛题的要求。

最后祝大家小车比赛顺利，起飞！！！

---TZ