pwmcar.h

智能电动小车的程序

#define RUNTIME 5000//停车时间
#define RUN_STR_L_HLP 40//直走 左占空比
#define RUN_STR_R_HLP 15//直走右占空比
#define TURN_L_L_HLP 5 //左转 左占空比
#define TURN_L_R_HLP 70//左转 右占空比
#define TURN_R_L_HLP 80//右转 左占空比
#define TURN_R_R_HLP 5 //右转 右占空比
#define TURN1_15_TIME 50 //转弯方式1 转15度的时间
#define TURN2_15_TIME 50 //转弯方式2 转15度的时间
sbit pwml0=P1^1;//左轮驱动
sbit pwml1=P1^0;
sbit pwmr0=P1^3;//右轮驱动
sbit pwmr1=P1^2;
uchar l_hlp,r_hlp;//左右轮占空比
bit l_dire,r_dire;//左右轮方向标志

sbit zhail=P3^5;//红外障碍物检测
sbit zhair=P3^4;

sbit blackl=P1^6;//黑线检测
sbit blackr=P1^7;
bit back;
#define B_ON 0
#define B_OFF 1

sbit speedl=P1^4;//车速检测
sbit speedr=P1^5;
#define MIN_DIS 17
int left_sss=0,right_sss=0;

uchar guang[3],gi,gi_min;//光源检测

uchar min_ddd;
uchar direct,direct0;
#define ss 1
#define ll 2
#define rr 3
#define tl 4
#define bs 5
#define bl 6
#define br 7
#define tr 8
bit stop;
bit this_time,make_ac;
bit zhl,zhr,blal,blar,spel,sper;
bit state_zhai,state_guang,state_t,state_speed;//检测与决策状态标志
bit far_bla,with_bla;
//----------------------------------计时器一些参数
#define  Time_Unit 180
bit t0f=0;
int2char pwm_dtime;//计数器初值
uchar num_unit=0;//计数单元次数
uint num100unit=0;//100个计数单元的次数

void Final_Test();
void Start_Car(uchar lp, uchar rp,bit ld,bit rd)//小车启动，
	 //4个参数为左占空比，右占空比，左右方向
{
	l_hlp=lp;
	r_hlp=rp;
	l_dire=ld;
	r_dire=rd;
	TR0=0;	
	TMOD=0x11;
	TH0=0xff;
	TL0=0xe0;
	TR0=1;
	IE=0x02;
	EA=1;
	num_unit=0;
	pwml0=0;
	pwml1=0;
	pwmr0=0;
	pwmr1=0;
}
void Stop_Car()//停车，关中断
{
	stop=1;
	pwml0=0;
	pwml1=0;
	pwmr0=0;
	pwmr1=0;
	l_dire=(!l_dire);
	r_dire=(!r_dire);
	l_hlp=6;
	r_hlp=6;
}
void Int_T0()interrupt 1 using 2 //ie0x02//TMOD=0x11;
{
	EA=0;
	TR0=0;	
	pwm_dtime.time=0xffff-Time_Unit;
	TH0=pwm_dtime.hl[0];
	TL0=pwm_dtime.hl[1];//定时us
	TR0=1;//开定时器0
	t0f=1;//标志置1
	if(num_unit==0)//置高电平
	{
		if(l_dire)pwml0=1;
		else pwml1=1;
		if(r_dire)pwmr0=1;
		else pwmr1=1;
	}
	if(num_unit==l_hlp)//左轮置低
	{
		if(l_dire)pwml0=0;
		else pwml1=0;
	}
	if(num_unit==r_hlp)//右轮置低
	{
		if(r_dire)pwmr0=0;
		else pwmr1=0;
	}
	num_unit++;
	if(num_unit==100)
	{
		num_unit=0;
		num100unit++;
	}
	EA=1;
}






//============================== 传感器检测程序===================
void Bla_Test()//黑线检测
{
	blackl=1;
	blackr=1;
	blal=blackl;
	blar=blackr;
}
void S_Test()//位移检测
{
	speedl=1;
	speedr=1;
	if(speedl!=spel)
	{
		if(l_dire)left_sss++;
		else left_sss--;
		spel=speedl;
	}
	if(speedr!=sper)
	{
		if(r_dire)right_sss++;
		else right_sss--;
		sper=speedr;
	}
}
void Zhai_Test()//障碍物检测
{
	zhail=1;
	zhair=1;
	zhl=zhail;
	zhr=zhair;
}
void Guang_Test()//光源检测
{
	guang[gi]=AD_Read(gi+1);
	if(guang[gi]<guang[gi_min])gi_min=gi;
	gi++;
	if(gi==3)
	{
		gi=0;	
	}
	AD_Start(gi+1);
}
//=================================检测结果的判决程序=====
//判决输出为小车的direct ,l_hlp,r_hlp,和min_ddd
void Gowith_Bla()//沿黑线行驶
{
	if((blal==B_OFF)&&(blar==B_OFF))//左右都不在黑线上，按原方向返回
	{
		this_time=1;
		if(back)
		{
			return;
		}
		back=1;
		direct=direct+4;
		if(direct>8)direct-=8;		
	}
	else if(blal==B_OFF)//左边不在黑线，右拐
	{
		direct=rr;
		this_time=1;
		back=0;
	}
	else if(blar==B_OFF)//右边不在黑线，左拐
	{
		direct=ll;
		this_time=1;
		back=0;
	}
}
void Away_Bla()//避免走到黑线
{
	if((blal==B_ON)&&(blar==B_ON))//左右都在黑线上，按原方向返回
	{	
		this_time=1;
		if(back)
		{
			return;
		}
		back=1;
		direct=direct+4;
		if(direct>8)direct-=8;
	}
	else if(blal==B_ON)//左边在黑线上，反左
	{
		direct=bl;
		this_time=1;
		back=0;
	}
	else if(blar==B_ON)//右边在黑线上，反右
	{
		direct=br;
		this_time=1;
		back=0;
	}
}
void Away_Zhai()//躲避障碍物
{
	if((zhl==1)&&(zhr==1))//左右都有障碍物，按原方向返回
	{
		direct=direct+4;
		if(direct>8)direct-=8;
		this_time=1;
	}
	else if(zhl==1)//左边有障碍物，左反
	{
		direct=bl;
		this_time=1;
	}
	else if(zhr==1)//右边有障碍，右反
	{
		direct=br;
		this_time=1;
	}
}
void Go_Guang()
{
	if(gi_min==0)//左边光强,左拐
	{
		direct=ll;
		this_time=1;
	}
	else if(gi_min==2)//右边光强，右拐
	{
		direct=rr;
		this_time=1;
	}
	//else direct=ss;//中间光强，直走
}
//--------------------------------------应用层程序--------------------
//===========================小车转向程序=======================
void Run_Str(bit f)//直走，f 1表示向前，0向后
{
	uint time;
	time=num100unit;
	Start_Car(RUN_STR_L_HLP,RUN_STR_R_HLP,f,f);
	while(1)
	{	
		if(t0f)
		{
			Final_Test();
		}
		if(num100unit==(time+min_ddd))return;
	}
}
//--------------------------------------转弯方式1，左右轮同向--------
void Turn_L(bit f)//左转，f 1表示向前，0向后
{
	uint time;
	time=num100unit;
	Start_Car(TURN_L_L_HLP,TURN_L_R_HLP,f,f);
	while(1)
	{
		if(t0f)
		{
			Final_Test();
		}
		if(num100unit==(time+min_ddd))return;
	}
}
void Turn_R(bit f)//右转，f 1表示向前，0向后
{
	uint time;
	time=num100unit;
	Start_Car(TURN_R_L_HLP,TURN_R_R_HLP,f,f);
	while(1)
	{
		if(t0f)
		{
			Final_Test();
		}
		if(num100unit==(time+min_ddd))return;
	}
}
//-------------------------------------转弯方式2，左右轮异向--------
void Turn(bit f)// f 0左转 1右转
{
	uint time;
	time=num100unit;
	Start_Car(50,50,f,!f);
	while(1)
	{
		if(t0f)
		{
			Final_Test();
		}
		if(num100unit==(time+min_ddd))return;
	}
}
//=============================小车检测，判决程序==================
void Final_Test()//综合检测，但不包括光源检测，因为检测时间间隔不一样
{
	Bla_Test();
	Zhai_Test();
	S_Test();
	if(state_guang)Guang_Test();
}
void Final_Ac()//综合判决
{
	direct0=direct;
	if(with_bla)Gowith_Bla();
	if(state_guang)Go_Guang();
	if(state_zhai)Away_Zhai();
	if(far_bla)Away_Bla();
	if(this_time)
	{
		this_time=0;
	}
	else //这次没有做出方向判断，直走
	{
		direct=1;
	}
	if(direct!=direct0)
	{
		make_ac=1;
		Stop_Car();
		stop=0;
	}
}
void Action()
{
	if(stop)return;
	if(make_ac)
	{
		switch (direct)
		{
			case 1 : Run_Str(0);break;
			case 2 : Turn_L(0);break;
			case 3 : Turn_R(0);break;
			case 4 : Turn(0);break;
			case 5 : Run_Str(1);break;
			case 6 : Turn_L(1);break;
			case 7 : Turn_R(1);break;
			case 8 : Turn(1);break;
			default : ;
		}
		make_ac=0;
	}
}