main.c

智能循迹小车代码

/*****************************************************
Project : Line Follower
Version : 
Date    : 2/19/2006
Author  : Priyank                         
Company : Home                            
Compiler: CodeVision AVR

Chip type           : ATmega16
Program type        : Application
Clock frequency     : 7.372800 MHz
Memory model        : Small
External SRAM size  : 0
Data Stack size     : 256
*****************************************************/

//#define debug 1
#include <mega16.h>
#include <delay.h> 
#ifdef debug
#include <stdio.h>
#endif

#define FWD 0xAA
#define REV 0x55
#define R 0x22
#define L 0x88
#define CW 0x99
#define CCW 0x66
#define STOP 0x00
#define B 0xFF
#define RSPEED OCR1AL
#define LSPEED OCR1BL
#define SPEED0 255
#define SPEED1 0
#define SPEED2 0
#define SPEED3 0
#define MAX 7
#define HMAX 3

void move (unsigned char dir,unsigned char delay,unsigned char power);
unsigned char i,rdev,ldev,ip,delay,dir,power,dirl,history[MAX],hcount=0,rotpow;

#ifdef debug
unsigned char rep=0,prev=0;
#endif

void main(void)
{

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTB=0x00;
DDRB=0x00;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTC=0x00;
DDRC=0xFF;

// Port D initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T 
PORTD=0x00;
DDRD=0x30;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 921.600 kHz
// Mode: Fast PWM top=00FFh
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// Noise Canceler: Off
// Input Capture on Falling Edge
TCCR1A=0xA1;
TCCR1B=0x0A;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0xFF;
OCR1BH=0x00;
OCR1BL=0xFF;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;  

#ifdef debug
// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud rate: 57600
UCSRA=0x00;
UCSRB=0x18;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x07;
#endif

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

while (1){ 
  
#ifdef debug
if(rep<255)
rep++;
if(prev!=PINA) {
prev=PINA;
printf("%u\r",rep);
for(i=0;i<8;i++)
printf("%u\t",(prev>>i)&0x01);
rep=0;
}
#endif

if(PINA!=255){ 
         rotpow=255;
        ldev=rdev=0;
                            
        if(PINA.3==0) 
        rdev=1;
        if(PINA.2==0) 
        rdev=2;
        if(PINA.1==0) 
        rdev=3;
        if(PINA.0==0) 
        rdev=4;
             
        if(PINA.4==0) 
        ldev=1;
        if(PINA.5==0) 
        ldev=2;
        if(PINA.6==0) 
        ldev=3;
        if(PINA.7==0) 
        ldev=4; 
         
        if(rdev>ldev) 
        move(R,0,195+12*rdev);   
        if(rdev<ldev) 
        move(L,0,195+12*ldev);   
        if(rdev==ldev)
        move(FWD,0,200);
        }   

else    { 
        for(i=0,dirl=0;i<MAX;i++) {
        if(history[i]==L)
        {dirl++;}
        }
         if(rotpow<160) {rotpow=160;}
         if(rotpow<255) {rotpow++;}
         
        if(dirl>HMAX) 
        {move(CW,0,rotpow);}
        else 
        {move(CCW,0,rotpow);}
        }           
};
}

void move (unsigned char dir,unsigned char delay,unsigned char power) {
PORTC=dir;
if(dir==L || dir==R) {
        hcount=(hcount+1)%MAX;
        history[hcount]=dir;
        }
LSPEED=RSPEED=255;//power;
//delay_ms(delay);
}