小车.txt

历届电子设计竞赛智能小车资料大全

#include<c8051f020.h>
#include<intrins.h>

#define uchar unsigned char
#define uint  unsigned int
#define SYSCLK 22118400
sfr PH0=0xFA;
sfr PH1=0xFB;
sbit IN1=P3^0;
sbit IN2=P3^1;        
sbit IN3=P3^2;
sbit IN4=P3^3;          
sbit S1=P2^0;        
sbit S2=P2^1;
sbit S3=P2^2;
sbit S4=P2^3;        
sbit S5=P2^4;
sbit S6=P2^5;    

uchar code table[]={0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90};
uint num,temp,left,right,t,r,ge,shi,bai,qian;


void SYSCLK_init()    //时钟初始化
{
      int i;                              
      OSCXCN=0x67;                                                        
      for(i=0;i<256;i++);          
      while(!(OSCXCN&0x80));          
      OSCICN=0x88; 
}

void IO_init()        //IO口初始化
{
    XBR0=0x10;
    XBR1=0x00;
    XBR2=0x40;
    P0MDOUT=0xff;
    P3MDOUT=0xff;    
}

void PCA_int_init()        //PCA0初始化
{
    PCA0MD=0x08;            //使用系统时钟 禁止中断
    PCA0CPM0=0xc2;
    PCA0CPM1=0xc2;
    PCA0CN=0x40;
    PCA0L=0x00;
    PCA0H=0x00;
    PCA0CPL0=0x00;              //设置PCA0CP0脉冲宽度
    PCA0CPH0=240;
    PCA0CPL1=0x00;              //设置PCA0CP1脉冲宽度
    PCA0CPH1=240;
}

void T_init()            //定时器初始化
{
    IE=0x82;
    TMOD=0x01;
    TH0=(65536-18432)/256;
    TL0=(65536-18432)%256;
    TR0=0;
}

void delay1ms(uint z)        //延时函数
{
    uint x,y,i;
    for(y=z;y>0;y--)
    {
        for(x=0;x<10;x++)
            for(i=0;i<221;i++);
    }
}    

void control()          //方向控制
{    
    num=P2;
    num=num&0x3f;
    switch(num)
    {
        case 0x0c:        //001100 011110 111111
        case 0x1e:        
        case 0x3f:
        {
            PH0=0xa0;    //左路电机
            PH1=0xa0;    //右路电机
        } break;
        case 0x0e:        //001110 001111 011111
        case 0x0f:
        case 0x1f:
        {
            PH0=0xa0;
            PH1=0x00;
        } break;
        case 0x06:        //000110 000111
        case 0x07:
        {
            PH0=0xa0;
            PH1=0x00;
        } break;
        case 0x01:        //000011 000001
        case 0x03:        
        {
            PH0=0xb8;
            PH1=0x00;            
        } break;
        case 0x1c:        //011100 111100 111110
        case 0x3c:
        case 0x3e:
        {
            PH0=0x90;
            PH1=0xa0;
        } break; 
        case 0x18:        //011000 111000
        case 0x38:
        {
            PH0=0x80;
            PH1=0xa0;            
        } break;
        case 0x30:        //110000 100000
        case 0x20:        
        {
            PH0=0x60;
            PH1=0xb8;
        } break;
        case 0x00:        //000000
        {
            if(PH0<PH1)
            {
                PH0=0x00;
                PH1=0x70;
            }
            if(PH0>PH1)
            {
                PH0=0x70;
                PH1=0x00;
            }
        } break; 
    }

}

void display(uchar qian,uchar bai,uchar shi,uchar ge)    //数码管显示函数
{
    if(qian!=0)
    {
        P4=0xef;
        P7=table[qian];
        delay1ms(2);
    }
    if(qian!=0||bai!=0)
    {
        P4=0xdf;
        P7=table[bai];
        delay1ms(2);
    }
    if(qian!=0||bai!=0||shi!=0)
    {
        P4=0xbf;
        P7=table[shi];
        delay1ms(2);
    }
    P4=0x7f;
    P7=table[ge];
    delay1ms(2);    
}
    
void main()        //主函数
{
    WDTCN=0xde;      //关闭看门狗 
    WDTCN=0xad;
    SYSCLK_init();
    IO_init();
    PCA_int_init();
    T_init();    
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;
    TR0=1;        //打开定时器
    while(1)
    {
        control();
        display(qian,bai,shi,ge);
        if(temp==1)
        {
            temp=0;
            ge=shi=bai=qian=0;
            display(qian,bai,shi,ge);
            for(r=0;r<5;r++)
            {
                P6=0x00;
                delay1ms(1000);
                P6=0xff;
                delay1ms(1000);
                    
            }
            IN2=1;
            IN4=1;
            TR0=1;
        }
    } 
}

void timer0()    interrupt 1
{
    TH0=(65536-18432)/256;
    TL0=(65536-18432)%256;
    t++;
    if(t==100)
    {
        t=0;
        ge++;
        if(ge==10)        //秒计数
        {
            ge=0;
            shi++;
        }
        if(shi==10)
        {
            shi=0;
            bai++;
        }
        if(bai==10)
        {
            bai=0;
            qian++;
        }
        if(qian==10)
            ge=shi=bai=qian=0;
    }
    if(shi==5)
    {
        IN2=0;
        IN4=0;
        TR0=0;
        temp=1;
    }
}