📄 main.txt

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#include <reg51.h>
#include <lcd.h>
#include "stdio.h"
#include "string.h"
#include "absacc.h"
#include "intrins.h"

#define SMOTOR  40  //步进电机走步脉冲周期 = 50*10
#define XIUZHENG 290//位置传感器的修正值

//define stepmotor 0 IO
sbit motor0sp   = P1^1;//0号电机走步脉冲
sbit motor0dir  = P1^0;//0号电机转向
//define stepmotor 1 IO
sbit motor1sp   = P1^3;  //1号电机走步脉冲
sbit motor1dir  = P1^2;//1号电机转向

sbit weizhi     = P3^2;//位置
sbit jixieshou  = P2^6;//机械手
sbit beep       = P3^5;//蜂鸣器
/////////////////////////////
sbit KEY1       = P1^4;//键//
sbit KEY2       = P1^5;//  //
sbit KEY3       = P1^6;//  //
sbit KEY4       = P1^7;//盘//
/////////////////////////////
void Delay(int time);
void stepmotor(unsigned char motorNo,unsigned char motordir,int bushu);
void stepmotortongbu(unsigned char motrodir,int bushu);
int stepmotor0(void);
void functionone(void);
int jianceyellow(void);
unsigned char yanseshibie(void);
void Interface0(void);
void Interface1(void);
void Interface2(void);
void Interface3(void);
void disp_zuobiao(void);

unsigned int pyellow = 0;//三种颜色球的坐标，横坐标以步数表示
unsigned int pred    = 0;
unsigned int pgreen  = 0;
////////////////////////////////////////////////
unsigned char buffer; //程序中用到的数据缓冲区//
int buffer0;                                  //
////////////////////////////////////////////////
unsigned char InterfaceNo = 1;//菜单编号
unsigned char disp[3],dispbuf[5][5];//显示缓冲区
///////////////主程序开始/////////////////
void main(void)
{
	jixieshou = 0;
	disp_int();         //初始化函数 
    disp_clear();       //清屏函数
	beep =  0;
	Interface0();
	stepmotor(1,0,3900);//////从规定位置上升到顶部
	while(1)
	{
		if(~KEY1)///////C键
		{
			Delay(1000);
			if(~KEY1)
			{
				switch(InterfaceNo)
				{
					case 10: 
						stepmotortongbu(1,10);
						break;
					case 11:
						InterfaceNo = 0;
						break;
					case 12:
						InterfaceNo = 1;
						break;
					case 13:
						InterfaceNo = 1;
						break;
					default : break;
				 }
			}
		}
		////////////////////////
		if(~KEY2)////////按键1
		{
			Delay(1000);
			if(~KEY2)
			{
				switch(InterfaceNo)
				{
					case 10: 
						InterfaceNo = 1;
						break;
					case 11:
					    functionone();
						break;
					case 12:
						disp_string(13,3,"Ing");
						buffer0 = 0;
						stepmotortongbu(1,pyellow);//吊yellow球
						Delay(20000);
						stepmotor(1,1,6100);
						Delay(10000);
						jixieshou = 1;
						Delay(10000);
						stepmotor(1,0,2500);
						Delay(20000);
						motor0dir = 0;//步进电机同步向右运行
						motor1dir = 1;
						while(weizhi)
						{
							motor0sp = 1;
							motor1sp = 1;
							Delay(SMOTOR);
							motor0sp = 0;
							motor1sp = 0;
							Delay(SMOTOR);
							buffer0++;
							//if(bushu > bushu+1900) return 1;//出错，再检测一遍球筒的位置
						}				
						//stepmotortongbu(0,XIUZHENG);//无需修正
						Delay(20000);
						//stepmotor(1,1,2500);
					    //Delay(10000);
						jixieshou = 0;
						Delay(10000);
						stepmotor(1,0,3600);
						Delay(10000);
						stepmotortongbu(1,(buffer0 - pyellow));
						disp_string(13,3," OK");
						beep = 1;
						Delay(5000);
						beep = 0;
						break;
					case 13: //////////////////修改
						stepmotor(1,0,10);
						//stepmotortongbu(1,50);
						break;
					default : break;
				 }
			}
		}
/////////////////////////
		if(~KEY3)///////按键2
		{
			Delay(1000);
			if(~KEY3)
			{
				switch(InterfaceNo)
				{
					case 10: 
					
						InterfaceNo = 1;
						break;
					case 11:
						InterfaceNo = 2;
						break;
					case 12:
						disp_string(13,5,"Ing");
						buffer0 = 0;
						stepmotortongbu(1,pred);//吊red球
						Delay(20000);
						stepmotor(1,1,6100);
						Delay(10000);
						jixieshou = 1;
						Delay(10000);
						stepmotor(1,0,2500);
						Delay(20000);
						motor0dir = 0;//步进电机同步向右运行
						motor1dir = 1;
						while(weizhi)
						{
							motor0sp = 1;
							motor1sp = 1;
							Delay(SMOTOR);
							motor0sp = 0;
							motor1sp = 0;
							Delay(SMOTOR);
							buffer0++;
							//if(bushu > bushu+1900) return 1;//出错，再检测一遍球筒的位置
						}				
						//stepmotortongbu(0,XIUZHENG);//无需修正
						Delay(20000);
						//stepmotor(1,1,2500);
					//	Delay(10000);
						jixieshou = 0;
						Delay(10000);
						stepmotor(1,0,3600);
						Delay(10000);
						stepmotortongbu(1,(buffer0 - pred));
						disp_string(13,5," OK");
						beep = 1;
						Delay(5000);
						beep = 0;
						Delay(5000);
						beep = 1;
						Delay(5000);
						beep = 0;
						break;
					  case 13:///////////////////
					  	   stepmotor(1,1,10);
						   //stepmotortongbu(0,50);
						   break;
					  default : break;
				 }
			}
		}
		///////////////////////////
		if(~KEY4)////按键3
		{
			Delay(1000);
			if(~KEY4)
			{
				switch(InterfaceNo)
				{
					case 10: 
						InterfaceNo = 1;
						break;
					case 11:
						InterfaceNo = 3;
						break;
					case 12:
						disp_string(13,7,"Ing");
						buffer0 = 0;
						stepmotortongbu(1,pgreen);//吊绿球
						Delay(20000);
						stepmotor(1,1,6100);
						Delay(10000);
						jixieshou = 1;
						Delay(10000);
						stepmotor(1,0,2500);
						Delay(20000);
						motor0dir = 0;//步进电机同步向右运行
						motor1dir = 1;
						while(weizhi)
						{
							motor0sp = 1;
							motor1sp = 1;
							Delay(SMOTOR);
							motor0sp = 0;
							motor1sp = 0;
							Delay(SMOTOR);
							buffer0++;
							//if(bushu > bushu+1900) return 1;//出错，再检测一遍球筒的位置
						}				
						//stepmotortongbu(0,XIUZHENG);//无需修正
						Delay(20000);
						//stepmotor(1,1,2500);
					   //Delay(10000);
						jixieshou = 0;
						Delay(10000);
						stepmotor(1,0,3600);
						Delay(10000);
						stepmotortongbu(1,(buffer0-pgreen));
						disp_string(13,7," OK");
						beep = 1;
						Delay(5000);
						beep = 0;
						Delay(5000);
						beep = 1;
						Delay(5000);
						beep = 0;
						Delay(5000);
						beep = 1;
						Delay(5000);
						beep = 0;
						break;
						case 13:
							stepmotortongbu(0,10);
							break;
					 default : break;
				 }
			}
		}
		/////////////////////////////////
		switch(InterfaceNo)
		{
			case 0:
				InterfaceNo = 10;
				Interface0();
				break;
			case 1:
				InterfaceNo = 11;
				Interface1();
				break;
			case 2:
				InterfaceNo = 12;
				Interface2();
				buffer = yanseshibie();
				disp_zuobiao();
				InterfaceNo = 12;
				break;
			case 3:
				InterfaceNo = 13;
				Interface3();
			default :
				break;
				
		}
	}//end while

}

/******************************************************************************/
//函数功能：识别三种颜色球的位置，机械手位于60cm处顶端
//入口参数：无
//出口参数：全局变量
/******************************************************************************/
unsigned char yanseshibie(void)
{
	unsigned int temp1,temp2,temp3;
/////////////////////////////////////////////////////////	
/////////////////识别黄色////////////////////////////////
/////////////////////////////////////////////////////////
	pyellow = 0;//位置清零
	
	stepmotor(1,1,3850); //从初始位置下降3850移动到检测黄色位置的高度
	Delay(20000);
	Delay(10000);
		
	motor0dir = 1;//步进电机同步向左运行
	motor1dir = 0;
	while(weizhi)
	{
		motor0sp = 1;
		motor1sp = 1;
		Delay(SMOTOR);
		motor0sp = 0;
		motor1sp = 0;
		Delay(SMOTOR);	
		if(pyellow >= 3400) 
		{
			Delay(20000);
			stepmotortongbu(0,3400);
			stepmotor(1,0,3800);
			return 0;
		}
		pyellow++;
	}
	
	//stepmotortongbu(1,XIUZHENG);
	Delay(20000);
	Delay(20000);
	
	stepmotortongbu(0,pyellow);//回到初始位置
	pyellow += XIUZHENG;//修正
	Delay(20000);
	Delay(20000);
	
 	stepmotor(1,1,150);//下降

	//识别红色
	Delay(20000);
	Delay(20000);

	pred = 0;
	//stepmotor(1,1,4100);//从初始位置上升移动到检测红球的高度
	Delay(20000);
	Delay(10000);
	motor0dir = 1;//步进电机同步向左运行
	motor1dir = 0;
	while(weizhi)
	{
		motor0sp = 1;
		motor1sp = 1;
		Delay(SMOTOR);
		motor0sp = 0;
		motor1sp = 0;
		Delay(SMOTOR);	
		if(pred >= 3400) 
		{
			Delay(20000);
			stepmotortongbu(0,3400);
			stepmotor(1,0,3950);
			return 0;
		}
		pred++;
	}
	if(pred < (pyellow-500)) 
	{
		Delay(20000);
		Delay(20000);
		stepmotortongbu(0,pred);
		pred += XIUZHENG;
		Delay(20000);
		Delay(20000);
 		stepmotor(1,1,250);
	}
	else
	{
		stepmotortongbu(1,700);//跳过黄球
		pred += 700;
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