main.c

机器人走白线程序 包括加速 减速 转弯函数 开发工具 keil c

///////////////////////////////
//main()//
////////////////////////////////
#include "mydefine.h"
#include "intrins.h"
#define WaitTime 60
bdata unsigned char State;
//bit State_0,State_1,State_2,State_3;
sbit State_0 = State^0;
sbit State_1 = State^1;
sbit State_2 = State^2;
sbit State_3 = State^3;
unsigned int SpeedRight = 4,SpeedLeft = 4;
unsigned int OldSpeedRight ,OldSpeedLeft ;
//bdata unsigned int PWM_0,PWM_1;
data unsigned int pwm[16]=
{0x0000,// pwm[0] = 0x0000;  //0000 0000 0000 0000
 0x0001,// pwm[1] = 0x0001;  //0000 0000 0000 0001
 0x0101,// pwm[2] = 0x0101;  //0000 0001 0000 0001
 0x0821,// pwm[3] = 0x0821;  //0000 1000 0010 0001
 0x1111,// pwm[4] = 0x1111;  //0001 0001 0001 0001
 0x2245,// pwm[5] = 0x2245;  //0010 0010 0100 1001
 0x2525,// pwm[6] = 0x2525;  //0010 0101 0010 0101
 0x52aa,// pwm[7] = 0x52aa;  //0101 0010 1010 1010
 0x5555,// pwm[8] = 0x5555;  //0101 0101 0101 0101          
 0xad55,// pwm[9] = 0xad55;  //1010 1101 0101 0101
 0xdada,// pwm[10] = 0xdada; //1101 1010 1101 1010
 0xddb6,// pwm[11] = 0xddb6; //1101 1101 1011 0110
 0xeeee,// pwm[12] = 0xeeee; //1110 1110 1110 1110
 0xf7de,// pwm[13] = 0xf7de; //1111 0111 1101 1110
 0xfefe,// pwm[14] = 0xfefe; //1111 1110 1111 1110
// 0xfffe,// pwm[15] = 0xfffe; //1111 1111 1111 1110
 0xffff};// pwm[15] = 0xffff; //1111 1111 1111 1111
bdata unsigned char OldState,OtherState;
unsigned int flag;
void main(void)
{	
	
	Initialize();
	State = 0x00;
	OldState = State;
	DirectionLeft = 0;
	DirectionRight = 0;
	OldSpeedLeft = SpeedLeft;
	OldSpeedRight = SpeedRight;
	SpeedLeft = 15;
	SpeedRight = 15;
//	Delay(5000);
	
    Run();
	while(1)
 {
			DirectionRight = 0;
			DirectionLeft = 0;
			Run();
			Run_at(12,Right);
			Run_at(12,Left);
			Delay(5000);
			Stop();
//			Delay(500);
//			DirectionRight = 0;
//			DirectionLeft = 0;
//			Run();
//			Run_at(5,Right);
//			Run_at(5,Left);
			Delay(5000);

			DirectionRight = 1;
			DirectionLeft = 1;
			Run();
			Run_at(10,Right);
			Run_at(10,Left);
			Delay(5000);
			Stop();
			Delay(5000);


 }

}//end of main()





void  Initialize (void)
{
 	P3 = 0xff;        /*speed-up pull-ups*/
	P1_6 = 0;
	
	P1 = 0xff;
	
/* Timer0 Initialize  */
    TMOD = 0x01;
	TH0  = 0xfe;
    TL0  = 0xd4;
    ET0  = 0;
	TR0  = 0;
/* Timer1 Initialize  */
/* Timer2 Initialize  */

/* Out0 Initialize  */
    
/* Out1 Initialize  */

/* ALL interrupt */
    EA  =  1;

}


void Delay(unsigned int time)  //time /ms
{unsigned int i;
  register unsigned char j;
	time*=2;
	 for (i=0;i<time;i++)
 {_nop_ ();
  for (j=0;j<197;j++)
   {_nop_ ();
    _nop_ ();
   }
  }
} 


void Run()
{   
	_nop_();
	_nop_();
	PWM_0 = pwm[SpeedLeft];
	PWM_1 = pwm[SpeedRight];
    DriveLeftMo1 = 0;
    DriveLeftMo2 =0;
	DriveRightMo1 =0;
	DriveRightMo2 =0; 	
	ET0 = 1;  //Timer 0 open
    TR0 = 1; //Timer 0 begins
	_nop_();
	_nop_();
}

void Run_at(unsigned int Speed,bit Motor)
{
 if(Motor==1)
	{ OldSpeedLeft = SpeedLeft;
	  SpeedLeft =Speed;
    }
  else
	{ OldSpeedRight = SpeedRight;
	  SpeedRight =Speed;
    }
  Run_in();	
}

void Run_in()
{   if(SpeedLeft!=OldSpeedLeft)
      PWM_0 = pwm[SpeedLeft];
	if(SpeedRight!=OldSpeedRight)
      PWM_1 = pwm[SpeedRight];
    _nop_();
	_nop_();
}


void Stop()
{
	DriveLeftMo1 = 0;
	DriveLeftMo2 = 0;
	DriveRightMo1 = 0;
	DriveRightMo2 = 0;
	TR0 = 0;
	ET0 = 0;
	TF0 = 0;
 	_nop_();
	_nop_();
}


void SpeedUp(unsigned int Delta,bit Motor) 
{  int x,y;
	x = SpeedLeft + Delta;
	y = SpeedRight + Delta;
  if(Motor==1)
	{ OldSpeedLeft = SpeedLeft;
		if(x<=15)
		{SpeedLeft +=Delta;}
    }
  else
	{ OldSpeedRight = SpeedRight;
		if(y<=15)
		{SpeedRight +=Delta;	}
    }
	
	
  Run_in();
 	_nop_();
	_nop_();
}


void SpeedDown(unsigned int Delta,bit Motor) 
{ 
    int x,y;
    
	x = SpeedLeft  - Delta;
	y = SpeedRight - Delta;
  if(Motor==1) 
	{OldSpeedLeft = SpeedLeft;
		if(x>=1)
	    {SpeedLeft -=Delta;}
	}
  else 
	{OldSpeedRight = SpeedRight;
		if(y>=1)
		{SpeedRight -=Delta;}
    }

	Run_in();
	 _nop_();
	_nop_();
}