control_angel.c

motor_control.zip

/////////////////////////////////////
//  COPYRIGHT RESERVED BY DU  //
/////////////////////////////////////

#include "c8051F020.h"
#include "intrins.h"
#include "CH452CMD.H"	// 定义常用命令码及外部子程序
#include "pin.h"
#include "math.h"
#include "key_display.h"		  


//定义端口
sbit LEDG	=	P3^4;
sbit BACK	=	P3^0;
sbit START	=	P3^2;
sbit IN0	=	P0^5;
sbit IN1	=	P0^6;
sbit IN2	=	P0^7;
sbit IN3	=	P1^0;
sbit IN4	=	P1^1;
sbit IN5	=	P1^2;
sbit IN6	=	P1^3;
ulong xdata data0[15];
ulong avge=0,avge0=0;
uchar keykey=0,timein;
uchar times_of_overflow1=0;
uchar duty=80,duty0=0,duty1=0;


// Peripheral specific initialization functions,


 
void Port_IO_Init()
{
    // P0.0  -  CEX0 (PCA),  Open-Drain, Digital
   // P0.1  -  CEX1 (PCA),  Open-Drain, Digital
       XBR0      = 0x10;	/*CEX0-->P0.0,CEX1-->P0.1*/
       XBR2      = 0x40;	
}

void Interrupts_Init()
{   
	IE        = 0x08;
    IP        = 0x08;
    EIE1      = 0x08; //使能PCA0中断
    EIE2      = 0x20;
    EIP2      = 0x20;

}

// Initialization function for device,
// Call Init_Device() from your main program
void Init_Device(void)
{
    Reset_Sources_Init();
    ADC_Init();
	PCA_Init();
	Timer_Init();
	Oscillator_Init();
    Voltage_Reference_Init();
    Port_IO_Init();
    Interrupts_Init();
}
ulong pingjun (void)
{	  uchar i;
      ulong avgad1=0,avgad=0,state=0;
	  state=AD_IN();
      for(i=0;i<12;i++)
	      {
		
	   	    data0[i]=state;
		    avgad+=data0[i];		
		    //delayms(10);
	      }
	   avgad=avgad/12;
	   for(i=0;i<12;i++)
	      {
	   
	   	     data0[i]=state;
		     avgad1+=data0[i];
		     //delayms(10);
	      }
	   avgad1=avgad1/12;
	   avge=(avgad+avgad1)/4;
	   return(avge);
}

//定时n秒。不要放在循环语句中调用
void timecontrol(float n)
{
	timein=(uchar)(n*10);
	TR1=1;
	//TR0=1;
}
//改变占空比 i=0控制右轮 i=1控制左轮
void speedchange(uchar duty,uchar i)
{
     if(i==0) PCA0CPH0 =(uchar)((100-duty)*2.56);		//把duty值转换，赋值给控制占空比的寄存器
	 if(i==1) PCA0CPH1=(uchar)((100-duty)*2.56); 

}
uchar judgeblack_ft(void)
{	
    uchar a,b,c,left=0,right=0;	
	IN0=1;
	IN1=1;
	IN2=1;
	a=IN0;
	b=IN1;
	c=IN2; 
 	if((a==0&&b==1&&c==0))
	{   
	    EA =0;
	    left=0;
		right=0;
	    PCA0CPH0 = 0x80;
		PCA0CPH1 = 0x80;
		return(1);
		EA =1;
	}

	else if((a==1&&b==0&&c==0)||(a==1&&b==1&&c==0))
	{	  
	      EA =0;
	      left=1;
		  right=0;		  
	      duty1=duty-60;
		  speedchange(duty1,1);
		  return(0);
		  EA =1;

	}
	else if((a==0&&b==0&&c==1)||(a==0&&b==1&&c==1))
	{   
	 	 EA =0;
		 left=0;
		 right=1;	 
	     duty0=duty-60;
	     speedchange(duty0 ,0);
		 return(0);
		 EA =1;
	     
	 }
	else if (a==0&&b==0&&c==0)
	{
	     if(left==1)
		 {
		  EA =0;
	      duty1=duty-60;
		  speedchange(duty1,1); 
		  return(1);}
		 else if(right==1)
		 {
		 	   EA =0;
	          duty0=duty-60;
	          speedchange(duty0 ,0);
			  return(1);}
	    else
		  {
		 	 EA =0;
	        PCA0CPH0 = 0x80;
		    PCA0CPH1 = 0x80;
			return(0);}
	   EA =1;
	 }
 	else 
	 {
	    EA =0;
	    PCA0CPH0 = 0x80;
		PCA0CPH1 = 0x80;
		EA =1;
		return(0);
	  } 


}


//主函数main

void main(void)
{	
	uchar ret;
	uchar chazhi=12,chazhi1;
	Init_Device();
	CH452_Init();	  /* CH452初始化 */
	LEDG=0; 
	//EA=1;
	START=0;         	
while(1)
 {	 
	   LEDG=~LEDG;	   
	   EA=1;
       avge=pingjun();
	   BCDdisplay_l(avge-200); 	   	   
  	   if(keykey==1) 
  		{	
  	ret=judgeblack_ft();
    if(ret==1)
	 {
	    chazhi1=abs((int)(avge-avge0));
	    if(chazhi1>=20)    
	 	{
			
	  	START=1;
		if(avge>(avge0+chazhi-2)) 
		 { 
		   
		   BACK=0;
		 
		 }
	   	if(avge<(avge0-chazhi)) 
		  {
		  
		   BACK=1;
		  
		  }	
	 		ret=judgeblack_ft();
		}
	 	else if((chazhi1<20)&&(chazhi1>10))
	    {
	 		if(avge>(avge0+chazhi)) 
		 { 
		   START=1;
		   BACK=0;
		   
		  
		 }
	   	if(avge<(avge0-chazhi)) 
		  {
		   START=1;
		   BACK=1;
		  
		   
		  }	
	 		ret=judgeblack_ft();	
	    }		
	 	else if(chazhi1<=10)
        {
		    START=0;
	 	   ret=judgeblack_ft();	
	     }
	 	else;
     }
   	if(ret==0) 
	{
		ret=judgeblack_ft();
	}
	   //AMX0SL    =  0x03;
	   //state=(AD_IN(1,1));
	   //result=(int)state;
	   //BCDdisplay(result);
	   //delayms(20);
	} 
  }
}


/*PCA中断子程序*/
void PCA_ISR (void) interrupt 9
{
	CCF0 = 0;			/*清匹配中断标志*/

} 


 /*键盘中断子程序*/
void led(void)  interrupt 19
{ 
   uchar key;
   EA=0;
   key=CH452_Read();
   
   if(0x62==key)
   {
   	delayms(2);
	avge0=avge;
	keykey=1;
	BCDdisplay_h(avge0-200); 
    }
   EA=1;
   //if(0x63==key)
	  // {
	  // delayms(2);
	   //avga=pingjun();
	   //CH452_Write(CH452_DIG1|b);
	   //CH452_Write(CH452_DIG0|c);
	  // BCDdisplay(avga);

	  // }
}

 /*定时器中断子程序
void TIMER1_ISR (void) interrupt 3 using 1
{
	TR1=0;
	TF1=0;
	TH1=0x7D	;
	TL1=0xFB	;
	if(times_of_overflow1 < timein)
	 {	
	   times_of_overflow1 ++ ;	
	   TR1=1;
	   }
	else
	{	TR1=0;
	    //TR0=0;
		//Frequence=TH0*0x100+TL0;
		times_of_overflow1=0;
		TH1=0x7D	;
	    TL1=0xFB	;
		//JIA+=(float)timein/10 ;
		//BCDdisplay_l(JIA);
		//TH0=0;
		//TL0=0;
		//TR0=1;
		
		
	}

		


}	*/