main.c

智能小车程序资料

      //设置电机控制变量
      LA = 0;
      LB = 0;
      RA = 0;
      RB = 0;
      
      //设置指示灯
      MiddleLight = Off;
      LeftLight   = Off;
      RightLight  = Off;
}

/********* 前进模块 ***********/
void RunForward(void) 
{                        
     
            LA = 1;
            LB = 0;
            RA = 1;
            RB = 0;
     
     
      //设置指示灯
      MiddleLight = On;
      LeftLight   = Off;
      RightLight  = Off;
}

/********* 后退模块 ***********/
void RunBackward(void) 
{                        
      //设置电机控制变量
      LA = 0;
      LB = 1;
      RA = 0;
      RB = 1;
      
      //设置指示灯
      MiddleLight = On;
      LeftLight   = On;
      RightLight  = On;
}

/********* 左转模块 ***********/
void RunLeft(void) 
{                        
      //设置电机控制变量
      LA = 0;
      LB = 1;
      RA = 1;
      RB = 0;
      
      //设置指示灯
      MiddleLight = Off;
      LeftLight   = On;
      RightLight  = Off;
}

/********* 原地左转模块 *******/
void RunLeftRoundLeft(void) 
{                        
      //设置电机控制变量
      LA = 0;
      LB = 0;
      RA = 1;
      RB = 0;
      
      //设置指示灯
      MiddleLight = Off;
      LeftLight   = On;
      RightLight  = Off;
}

/********* 右转模块 ***********/
void RunRight(void) 
{                        
      //设置电机控制变量
      LA = 1;
      LB = 0;
      RA = 0;
      RB = 1;
      
      //设置指示灯
      MiddleLight = Off;
      LeftLight   = Off;
      RightLight  = On;
}

/********* 原地右转模块 *******/
void RunRightRoundRight(void) 
{                        
      //设置电机控制变量
      LA = 1;
      LB = 0;
      RA = 0;
      RB = 0;
      
      //设置指示灯
      MiddleLight = Off;
      LeftLight   = Off;
      RightLight  = On;
}  
 
 
void run_md(void)
   { if(run_mode==1)
        RunStop();
   else
      if(run_mode==2)
       RunForward();
   else
       if(run_mode==3)
       RunLeft();
   else
       if(run_mode==4) 
       RunRight();  
    
 
 
 
 }
 
 
 void ad_to_mode(void)
     {if((a[0]<240)&&(a[1]<240)) 
             {if(a[0]>a[1]) 
                   {
                    if((a[0]-a[1])>25)
                     run_mode=3;
                    else
                    run_mode=2;
                    } 
              else
                    if(a[1]>a[0]) 
                    {if((a[1]-a[0])>25)
                     run_mode=4;
                     else
                     run_mode=2;
                    }
             }
       else
         if((a[0]>240)&&(a[1]<240)) 
             { 
               if(a[1]>220)
                run_mode=4;
               else
                if(a[1]<180)
                run_mode=3;
               else
                if((a[1]>180)&&(a[1]<220))
                run_mode=2;
             
              
             } 
        else
          if((a[1]>240)&&(a[0]<240)) 
             { 
               if(a[0]>220)
                run_mode=3;
               else
                if(a[0]<180)
                run_mode=4;
               else
                if((a[0]>180)&&(a[0]<220))
                run_mode=2;
             
              
             }
          
                   
       
            
     }
 
void RunLeft1(int timebefore, int timebehind)
{
    if(flag2 <= timebefore) {
        LA = 0;
        LB = 1;
        RA = 1;
        RB = 0;
        //设置指示灯
      MiddleLight = Off;
      LeftLight   = On;
      RightLight  = Off;
    } else if(flag2 <= timebefore+timebehind) {
        LA = 1;
        LB = 0;
        RA = 0;
        RB = 0; 
        //设置指示灯
      MiddleLight = On;
      LeftLight   = Off;
      RightLight  = Off;
    } else{
        flag2 = 0; 
    }
}

void RunRight1(int timebefore, int timebehind)
{
    if(flag2 <= timebefore) {
        LA = 1;
        LB = 0;
        RA = 0;
        RB = 1;
        //设置指示灯
      MiddleLight = Off;
      LeftLight   = Off;
      RightLight  = On;
    } else if(flag2 <= timebefore+timebehind) {
        LA = 1;
        LB = 0;
        RA = 0;
        RB = 0; 
        //设置指示灯
      MiddleLight = On;
      LeftLight   = Off;
      RightLight  = Off;
    } else{
        flag2 = 0; 
    }
}

//main程序===================================================================  
void main(void) 
{
  daley(100);//系统延时
  MCU_init();//单片机初始化
 
 
  EnableInterrupts;
  beef_time=1;
  
  
  
 
 //主控程序============================================== 
 //a[0]是下面左边的传感器，a[1]是下面右边的传感器；
 //a[2]是上面前方传感器，a[3]是上面右边的传感器；>100表示白色
  for(;;) 
        { beef_conr();  
          AD_porm();
          //run_md();
          //ad_to_mode();
          //if(a[0] < 100) {
          // beef_time = 1; 
          //}
          //RunForward();
          
          
           if(a[0]<100 && a[1]>100) {
             RunRight1(20,3); 
           } else if(a[0]>100 && a[1]<100){
              RunLeft1(10,3);
           } else if(a[0]<100 && a[1]<100){
              RunForward();
           } else if(a[0]>100 && a[1]>100){
              RunForward();
           }
          
           
           
           //if(a[3]<100) {          //正面右边传感器
           //   beef_time = 1;       //无反射
           //}
           //if(a[2]>100) {          //正前方传感器
           //   beef_time = 1;       //无反射
           //}
         
           /*
           switch(FlagRun){
            case 0:
              RunStop();
              break;
            case 1:
              RunForward();
              break;
            case 3:
              RunLeft1();
              break;
            case 4:
              RunRight1();
              break;
            default:
              RunStop();
           }
            */
          
          
         }
        
        
        
  } 
  
  
  
//下面的与应用程序无关不必去看========================================================================== 
  
interrupt 15 void Timer15_Interrupt(void) {   ;}
interrupt 14 void Timer14_Interrupt(void) {   ;} 
interrupt 13 void Timer13_Interrupt(void) {   ;} 
interrupt 12 void Timer12_Interrupt(void) {   ;}
interrupt 11 void Timer11_Interrupt(void) {   ;}
interrupt 10 void Timer10_Interrupt(void) {   ;}
interrupt 9  void Timer9_Interrupt(void)   {   ;} 
interrupt 8  void Timer8_Interrupt(void)   {   ;} 
interrupt 7  void Timer7_Interrupt(void)   {   ;}
interrupt 5  void Timer5_Interrupt(void)   {   ;}
interrupt 4  void Timer4_Interrupt(void)   {   ;}
interrupt 3  void Timer3_Interrupt(void)   {   ;} 

interrupt 1  void Timer1_Interrupt(void)   {   ;}