基于89C51单片机的智能小车——04.跟随小车

红外壁障模块分析

原理和寻线是一样的，寻线红外观朝下，跟随朝前

跟随小车的原理

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

编程实现

分文件方式编程，函数声明的.h文件就不发出来啦。

//main.c
#include "motor.h"
#include "delay.h"
#include "reg52.h"
 
sbit leftSensor = P2^5;
sbit rightSensor = P2^4;
 
void main()
{
   
    while(1){
        if(leftSensor == 0 && rightSensor == 0){
            goForward();
        }
        if(leftSensor == 1 && rightSensor == 0){
             goRight();
        }
         
        if(leftSensor == 0 && rightSensor == 1){
            goLeft();
        }
         
        if(leftSensor == 1 && rightSensor == 1){
            //停
            stop();
        }
    }
}

//motor.c
#include "reg52.h"
 
sbit RightCon1A = P3^2;
sbit RightCon1B = P3^3;
 
sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;
 
void goForward()
{
    LeftCon1A = 0;
    LeftCon1B = 1;
     
    RightCon1A = 0;
    RightCon1B = 1;
}
 
void goRight()
{
    LeftCon1A = 0;
    LeftCon1B = 1;
     
    RightCon1A = 0;
    RightCon1B = 0;
}
 
 
void goLeft()
{
    LeftCon1A = 0;
    LeftCon1B = 0;
     
    RightCon1A = 0;
    RightCon1B = 1;
}
 
void goBack()
{
    LeftCon1A = 1;
    LeftCon1B = 0;
     
    RightCon1A = 1;
    RightCon1B = 0;
}
 
void stop()
{
    LeftCon1A = 0;
    LeftCon1B = 0;
     
    RightCon1A = 0;
    RightCon1B = 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);
}