main.c

巡光小车程序

/*********************************************************************************************************
** 工程功能 ：串口通信程序
** 工程作者 ：Blue Sky Teams——ZZL
** 工程版本 ：V1.0
*********************************************************************************************************/
#include<STC12C5A60S2.h>
#include<LCD1602.h>
#include<ADC.h>
#include<12864.h>
#define uchar	unsigned char
#define uint	unsigned int

#define FSCLK	11059200
//#define FSCLK	12000000
 sbit k1=P3^6;//占空比1调整按键
  sbit k2=P3^7;//占空比 2调整按键
sbit t1=P3^0;
sbit t2=P3^1;
sbit t3=P3^2;
sbit t4=P3^3;
char qq[]="z=";
int z1=75,z2=75;int yzw1,yzw2;int zzw1,zzw2;
float jz1;float jz2,jz3,jz4;
char ad1[]="u0=     ";
char ad2[]="u1=     ";
char ad3[]="u2=     ";
char ad4[]="u3=     ";

/*********************************************************************************************************
** 函数功能 ：延时函数
** 函数说明 ：利用软件延时，占用CPU，经调试最小单位大约为1ms
** 入口参数 ：time:需要延时的时间，单位ms
** 出口参数 ：无
*********************************************************************************************************/
void hzw()
{t1=1;
	t2=0;t3=1;
	t4=0;
	z1=50;z2=75;
}
zzw()
{t1=1;
	t2=0;t3=1;
	t4=0;
	z1=zzw1;z2=zzw2;
}

void yzw()
{t1=1;
	t2=0;t3=1;
	t4=0;
	z1=yzw1;z2=yzw2;
}


void tc()
{t1=1;t2=1;t3=1;t4=1;
}

void qianji()
{ t1=1;
	t2=0;t3=1;
	t4=0;
	z1=75;z2=75;
}
void zkb1(int i)
{ CCAP0H=CCAP0L=255*(100-i)/100;
	lcd_pos(4,1); 
	
	lcd_wdat(0x30 + i/10);
	lcd_wdat(0x30 + i%10);
	//Write_1602_String("z=",0xc9);
	//Write_1602_Data(0x30 + i/10);
	//Write_1602_Data(0x30 + i%10);
	
}
void zkb2(int j)
{ CCAP1H=CCAP1L=255*(100-j)/100;
	//Write_1602_String(",",0xcd);
	lcd_pos(4,3); 
	lcd_wdat(0x30 + j/10);
	lcd_wdat(0x30 + j%10);
	
	
	//Write_1602_Data(',');
	//Write_1602_Data(0x30 + j/10);
	//Write_1602_Data(0x30 + j%10);
}

void Delay_ms(uint time)
{
	uint i,j;
	for(i = 0;i < time;i ++)
		for(j = 0;j < 930;j ++);
}
void main()
{  
	float res0,res1,res2,res3;
	yzw1=75;yzw2=67;zzw1=67;zzw2=75;
	CCON=0;
   CL=0;
   CH=0;
   CMOD=0x08;//时钟源为系统时钟,故pwm的频率为系统时钟/256
   CCAP0H=CCAP0L=0x80;//设置占空比为50%
   CCAPM0=0x42;//允许比较功能，且设置pwm0的输出口为P1.3
	 CCAP1H=CCAP1L=0x80;
   CCAPM1=0x42;//允许比较功能，且设置pwm1的输出口为P1.4
   CR=1;//启动计数
	lcd_init();
	//LCD_1602_Init(); //液晶显示前进行初始化

	ADC_Init(ADC_PORT0 | ADC_PORT1); //配置通道P1^0 ,P1^1 为AD采集口，如要配置其他其他口，直接用或运算加进初始化函数中
	//Write_1602_String("ADC TEST",0xc0 + 0x04);
  //t1=1;
	//t2=0;t3=1;t4=0;
	jz1=GetADCResult(ADC_CH2);	
	jz2=GetADCResult(ADC_CH6);
	jz3=GetADCResult(ADC_CH7);
	jz4=GetADCResult(ADC_CH5);
	Delay_ms(5);
	lcd_pos(4,0); 
	lcd12864(qq);
	while(1)
	{  
		
		if(k1==0)
		  {zzw1++;
				if(zzw1==100)
					zzw1=0;}
					
					if(k2==0)
		  {yzw2++;
				if(yzw2==100)
					yzw2=0;}
		
		  zkb1(z1); //占空比为60%
      zkb2(z2);  //占空比为80% 
		res0=GetADCResult(ADC_CH6);	//	//通道1 AD
		lcd_pos(1,0);   
           
				 ad1[3]=	0x30 + (uint)res0%10;
					ad1[4]='.';
					ad1[5]=0x30 + (uint)(res0*10)%10;
					ad1[6]=0x30 + (uint)(res0*100)%10;
		      ad1[7]=0x30 + (uint)(res0*1000)%10;
					lcd12864(ad1);
				
	
			
		res1=GetADCResult(ADC_CH7);		//通道2 AD
		     lcd_pos(1,4);   
					ad2[3]=	0x30 + (uint)res1%10;
					ad2[4]='.';
					ad2[5]=0x30 + (uint)(res1*10)%10;
					ad2[6]=0x30 + (uint)(res1*100)%10;
					ad2[7]=0x30 + (uint)(res1*1000)%10;
		    
					lcd12864(ad2);
		//Write_1602_Data('V');
		Delay_ms(100);	
		
			res2=GetADCResult(ADC_CH2);	//通道3 AD
		  
			 lcd_pos(2,0);   
					ad3[3]=	0x30 + (uint)res2%10;
					ad3[4]='.';
					ad3[5]=0x30 + (uint)(res2*10)%10;
					ad3[6]=0x30 + (uint)(res2*100)%10;
					ad3[7]=0x30 + (uint)(res2*1000)%10;
		    
					lcd12864(ad3);
					res3=GetADCResult(ADC_CH5);	//通道3 AD
		  
			 lcd_pos(2,4);   
					ad4[3]=	0x30 + (uint)res3%10;
					ad4[4]='.';
					ad4[5]=0x30 + (uint)(res3*10)%10;
					ad4[6]=0x30 + (uint)(res3*100)%10;
					ad4[7]=0x30 + (uint)(res3*1000)%10;
		    
					lcd12864(ad4);
		//Write_1602_Data('V');
			
			//Write_1602_String("U2=",0xc0);
		//Write_1602_Data(0x30 + (uint)res2%10);
		//Write_1602_Data('.');
		//Write_1602_Data(0x30 + (uint)(res2*10)%10);
		//Write_1602_Data(0x30 + (uint)(res2*100)%10);
		//Write_1602_Data(0x30 + (uint)(res2*1000)%10);
		//Write_1602_Data('V');
		Delay_ms(10);	
		if((jz1>=res2)&&(jz3>=res1)||(res2*10-jz1*10>13))
			tc();
		if((res2*100-jz1*100>=19)&&((res1*10-jz3*10)<=(res2*10-jz1*10))&&(res2*10-jz1*10<13))
			qianji();
		if((res1*10-jz3*10>=1)&&((res1*10-jz3*10)>=(res2*10-jz1*10))&&(res2*10-jz1*10<13))
			yzw();
		if((res0*10-jz2*10>=1)&&((res0*10-jz2*10)>=(res2*10-jz1*10))&&(res2*10-jz1*10<13))
			zzw();
		if((res3*100-jz4*100>=15))
			hzw();
	}	
}

/************************** (C) COPYRIGHT 2011 Blue Sky Teams *****END OF FILE*****************************/