第二步：根据智能小车所需要实现的功能确定相应的硬件部分。如寻线是用红外还是用激光……、测距是用超声波还是激光……、避障是用红外还是超声波……寻找物体使用红外还是超声波还是雷达还是其他的等等。选取方案的时候既要考虑实际效果还要根据自身能力判断……不要到时候进退两难。
第三步：编写程序。
第四步：实验，并找出漏洞优化程序。
当然在此之前，还有一件很重要的事要做就是选取什么单片机。51、Arm……
硬件连接
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#include #include #define Sevro_moto_pwm P2_7 //接舵机信号端输入PWM信号调节速度 #define ECHO P2_4 //超声波接口定义 #define TRIG P2_5 //超声波接口定义 #define Left_moto_go {P1_0=1,P1_1=0,P1_2=1,P1_3=0;} //左边两个电机向前走 #define Left_moto_back {P1_0=0,P1_1=1,P1_2=0,P1_3=1;} //左边两个电机向后转 #define Left_moto_Stop {P1_0=0,P1_1=0,P1_2=0,P1_3=0;} //左边两个电机停转 #define Right_moto_go {P1_4=1,P1_5=0,P1_6=1,P1_7=0;} //右边两个电机向前走 #define Right_moto_back {P1_4=0,P1_5=1,P1_6=0,P1_7=1;} //右边两个电机向前走 #define Right_moto_Stop {P1_4=0,P1_5=0,P1_6=0,P1_7=0;} //右边两个电机停转 unsigned char const discode[] ={ 0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0xBF,0xff/*-*/}; unsigned char const positon[3]={ 0xfe,0xfd,0xfb}; unsigned char disbuff[4] ={ 0,0,0,0,}; unsigned char posit=0; unsigned char pwm_val_left = 0;//变量定义 unsigned char push_val_left =14;//舵机归中，产生约，1.5MS 信号 unsigned long S=0; unsigned long S1=0; unsigned long S2=0; unsigned long S3=0; unsigned long S4=0; unsigned int time=0; //时间变量 unsigned int timer=0; //延时基准变量 unsigned char timer1=0; //扫描时间变量 /************************************************************************/ void delay(unsigned int k) //延时函数 { unsigned int x,y; for(x=0;x } /************************************************************************/ void Display(void) //扫描数码管 { if(posit==0) {P0=(discode[disbuff[posit]])&0x7f;}//产生点 else {P0=discode[disbuff[posit]];} if(posit==0) { P2_1=0;P2_2=1;P2_3=1;} if(posit==1) {P2_1=1;P2_2=0;P2_3=1;} if(posit==2) {P2_1=1;P2_2=1;P2_3=0;} if(++posit>=3) posit=0; } /************************************************************************/ void StartModule() //启动测距信号 { TRIG=1; _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); _nop_(); TRIG=0; } /***************************************************/ void Conut(void) //计算距离 { while(!ECHO); //当RX为零时等待 TR0=1; //开启计数 while(ECHO); //当RX为1计数并等待 TR0=0; //关闭计数 time=TH0*256+TL0; //读取脉宽长度 TH0=0; TL0=0; S=(time*1.7)/100; //算出来是CM disbuff[0]=S%1000/100; //更新显示 disbuff[1]=S%1000%100/10; disbuff[2]=S%1000%10 %10; } /************************************************************************/ //前速前进 void run(void) { Left_moto_go ; //左电机往前走 Right_moto_go ; //右电机往前走 } /************************************************************************/ //前速后退 void backrun(void) { Left_moto_back ; //左电机往前走 Right_moto_back ; //右电机往前走 } /************************************************************************/ //左转 void leftrun(void) { Left_moto_back ; //左电机往前走 Right_moto_go ; //右电机往前走 } /************************************************************************/ //右转 void rightrun(void) { Left_moto_go ; //左电机往前走 Right_moto_back ; //右电机往前走 } /************************************************************************/ //STOP void stoprun(void) { Left_moto_Stop ; //左电机停走 Right_moto_Stop ; //右电机停走 } /************************************************************************/ void COMM( void ) { push_val_left=5; //舵机向左转90度 timer=0; while(timer<=4000); //延时400MS让舵机转到其位置 StartModule(); //启动超声波测距 Conut(); //计算距离 S2=S; push_val_left=23; //舵机向右转90度 timer=0; while(timer<=4000); //延时400MS让舵机转到其位置 StartModule(); //启动超声波测距 Conut(); //计算距离 S4=S; push_val_left=14; //舵机归中 timer=0; while(timer<=4000); //延时400MS让舵机转到其位置 StartModule(); //启动超声波测距 Conut(); //计算距离 S1=S; if((S2<20)||(S4<20)) //只要左右各有距离小于20CM小车后退 { backrun(); //后退 timer=0; while(timer<=4000); } if(S2>S4) { rightrun(); //车的左边比车的右边距离小 右转 timer=0; while(timer<=4000); } else { leftrun(); //车的左边比车的右边距离大 左转 timer=0; while(timer<=4000); } } /************************************************************************/ /* PWM调制电机转速 */ /************************************************************************/ /* 左电机调速 */ /*调节push_val_left的值改变电机转速,占空比 */ void pwm_Servomoto(void) { if(pwm_val_left<=push_val_left) Sevro_moto_pwm=1; else Sevro_moto_pwm=0; if(pwm_val_left>=200) pwm_val_left=0; } /***************************************************/ ///*TIMER1中断服务子函数产生PWM信号*/ void time1()interrupt 3 using 2 { TH1=(65536-100)/256; //100US定时 TL1=(65536-100)%256; timer++; //定时器100US为准。在这个基础上延时 pwm_val_left++; pwm_Servomoto(); timer1++; //2MS扫一次数码管 if(timer1>=20) { timer1=0; Display(); } } /***************************************************/ ///*TIMER0中断服务子函数产生PWM信号*/ void timer0()interrupt 1 using 0 { } /***************************************************/ void main(void) { TMOD=0X11; TH1=(65536-100)/256; //100US定时 TL1=(65536-100)%256; TH0=0; TL0=0; TR1= 1; ET1= 1; ET0= 1; EA = 1; delay(100); push_val_left=14; //舵机归中 while(1) /*无限循环*/ { if(timer>=1000) //100MS检测启动检测一次 { timer=0; StartModule(); //启动检测 Conut(); //计算距离 if(S<30) //距离小于20CM { stoprun(); //小车停止 COMM(); //方向函数 } else if(S>30) //距离大于，30CM往前走 run(); } } 头文件（一） /*-------------------------------------------------------------------------- ATX51.H Header file for the low voltage Flash Atmel ATC51 and ATLV51. Copyright (c) 1988-2002 Keil Elektronik GmbH and Keil Software, Inc. All rights reserved. --------------------------------------------------------------------------*/ #ifndef __ATX51_H__ #define __ATX51_H__ /*------------------------------------------------ Byte Registers ------------------------------------------------*/ sfr P0 = 0x80; sfr SP = 0x81; sfr DPL = 0x82; sfr DPH = 0x83; sfr PCON = 0x87; sfr TCON = 0x88; sfr TMOD = 0x; sfr TL0 = 0x8A; sfr TL1 = 0x8B; sfr TH0 = 0x8C; sfr TH1 = 0x8D; sfr P1 = 0x90; sfr SCON = 0x98; sfr SBUF = 0x99; sfr P2 = 0xA0; sfr IE = 0xA8; sfr P3 = 0xB0; sfr IP = 0xB8; sfr PSW = 0xD0; sfr ACC = 0xE0; sfr B = 0xF0; /*------------------------------------------------ P0 Bit Registers ------------------------------------------------*/ sbit P0_0 = 0x80; sbit P0_1 = 0x81; sbit P0_2 = 0x82; sbit P0_3 = 0x83; sbit P0_4 = 0x84; sbit P0_5 = 0x85; sbit P0_6 = 0x86; sbit P0_7 = 0x87; /*------------------------------------------------ PCON Bit Values ------------------------------------------------*/ #define IDL_ 0x01 #define STOP_ 0x02 #define PD_ 0x02 /* Alternate definition */ #define GF0_ 0x04 #define GF1_ 0x08 #define SMOD_ 0x80 / *------------------------------------------------ TCON Bit Registers ------------------------------------------------*/ sbit IT0 = 0x88; sbit IE0 = 0x; sbit IT1 = 0x8A; sbit IE1 = 0x8B; sbit TR0 = 0x8C; sbit TF0 = 0x8D; sbit TR1 = 0x8E; sbit TF1 = 0x8F; /*------------------------------------------------ TMOD Bit Values ------------------------------------------------*/ #define T0_M0_ 0x01 #define T0_M1_ 0x02 #define T0_CT_ 0x04 #define T0_GATE_ 0x08 #define T1_M0_ 0x10 #define T1_M1_ 0x20 #define T1_CT_ 0x40 #define T1_GATE_ 0x80 #define T1_MASK_ 0xF0 #define T0_MASK_ 0x0F /*------------------------------------------------ P1 Bit Registers ------------------------------------------------*/ sbit P1_0 = 0x90; sbit P1_1 = 0x91; sbit P1_2 = 0x92; sbit P1_3 = 0x93; sbit P1_4 = 0x94; sbit P1_5 = 0x95; sbit P1_6 = 0x96; sbit P1_7 = 0x97; / *------------------------------------------------ SCON Bit Registers ------------------------------------------------*/ sbit RI = 0x98; sbit TI = 0x99; sbit RB8 = 0x9A; sbit TB8 = 0x9B; sbit REN = 0x9C; sbit SM2 = 0x9D; sbit SM1 = 0x9E; sbit SM0 = 0x9F; /*------------------------------------------------ P2 Bit Registers ------------------------------------------------*/ sbit P2_0 = 0xA0; sbit P2_1 = 0xA1; sbit P2_2 = 0xA2; sbit P2_3 = 0xA3; sbit P2_4 = 0xA4; sbit P2_5 = 0xA5; sbit P2_6 = 0xA6; sbit P2_7 = 0xA7;聽 /*------------------------------------------------ IE Bit Registers ------------------------------------------------*/ sbit EX0 = 0xA8; /* 1=Enable External interrupt 0 */ sbit ET0 = 0xA9; /* 1=Enable Timer 0 interrupt */ sbit EX1 = 0xAA; /* 1=Enable External interrupt 1 */ sbit ET1 = 0xAB; /* 1=Enable Timer 1 interrupt */ sbit ES = 0xAC; /* 1=Enable Serial port interrupt */ sbit ET2 = 0xAD; /* 1=Enable Timer 2 interrupt */ sbit EA = 0xAF; /* 0=Disable all interrupts */聽 /*------------------------------------------------ P3 Bit Registers (Mnemonics & Ports) ------------------------------------------------*/ sbit P3_0 = 0xB0; sbit P3_1 = 0xB1; sbit P3_2 = 0xB2; sbit P3_3 = 0xB3; sbit P3_4 = 0xB4; sbit P3_5 = 0xB5; sbit P3_6 = 0xB6; sbit P3_7 = 0xB7; sbit RXD = 0xB0; /* Serial data input */ sbit TXD = 0xB1; /* Serial data output */ sbit INT0 = 0xB2; /* External interrupt 0 */ sbit INT1 = 0xB3; /* External interrupt 1 */ sbit T0 = 0xB4; /* Timer 0 external input */ sbit T1 = 0xB5; /* Timer 1 external input */ sbit WR = 0xB6; /* External data memory write strobe */ sbit RD = 0xB7; /* External data memory read strobe */聽 /*------------------------------------------------ IP Bit Registers ------------------------------------------------*/ sbit PX0 = 0xB8; sbit PT0 = 0xB9; sbit PX1 = 0xBA; sbit PT1 = 0xBB; sbit PS = 0xBC; sbit PT2 = 0xBD;聽 /*------------------------------------------------ PSW Bit Registers ------------------------------------------------*/ sbit P = 0xD0; sbit FL = 0xD1; sbit OV = 0xD2; sbit RS0 = 0xD3; sbit RS1 = 0xD4; sbit F0 = 0xD5; sbit AC = 0xD6; sbit CY = 0xD7;聽 /*------------------------------------------------ Interrupt Vectors: Interrupt Address = (Number * 8) + 3 ------------------------------------------------*/ #define IE0_VECTOR 0 /* 0x03 External Interrupt 0 */ #define TF0_VECTOR 1 /* 0x0B Timer 0 */ #define IE1_VECTOR 2 /* 0x13 External Interrupt 1 */ #define TF1_VECTOR 3 /* 0x1B Timer 1 */ #define SIO_VECTOR 4 /* 0x23 Serial port */ #endif聽 头文件（二） /*-------------------------------------------------------------------------- INTRINS.H Intrinsic functions for C51. Copyright (c) 1988-2002 Keil Elektronik GmbH and Keil Software, Inc. All rights reserved. --------------------------------------------------------------------------*/ #ifndef __INTRINS_H__ #define __INTRINS_H__ extern void _nop_ (void); extern bit _testbit_ (bit); extern unsigned char _cror_ (unsigned char, unsigned char); extern unsigned int _iror_ (unsigned int, unsigned char); extern unsigned long _lror_ (unsigned long, unsigned char); extern unsigned char _crol_ (unsigned char, unsigned char); extern unsigned int _irol_ (unsigned int, unsigned char); extern unsigned long _lrol_ (unsigned long, unsigned char); extern unsigned char _chkfloat_(float); #endi下载本文
