xiaoche.c

使用单片机实现小车智能寻迹

#include <AT89X52.h> 
sbit door_light=P2^5; // 门灯 
sbit up_light=P2^6; // 上行显示灯 
sbit down_light=P2^7; // 下行显示灯 
sbit LED_D=P2^0; // 接 LED数码管 
sbit LED_C=P2^1; 
sbit LED_B=P2^2; 
sbit LED_A=P2^3; 
unsigned int direct; // 全局变量 direct.floor.currentfloor 
unsigned int floor; 
unsigned int currentfloor; 
// 电机驱动函数定义 
sbit MA=P1^0; 
sbit MB=P1^1; 
sbit MC=P1^2; 
sbit MD=P1^3; 
static unsigned int count; //计数 
static int step_index; //步进索引数，值为0－7 
static bit turn; //步进电机转动方向 
static int speedlevel; //步进电机转速参数，数值越大速度越慢，最小值为1，速度最快 
static int spcount; //步进电机转速参数计数 
unsigned int c=150; // 定时器时间常数 T=c*16+24 us 
void delay(unsigned int N) 
{ 
int i; 
for(i=0;i<N;i++); 
} 
void system_init(void ) 
{ 
up_light=1; 
down_light=1; 
door_light=1; 
P0=0xff; 
currentfloor=floor=direct=0; 
step_index = 0; 
spcount = 0; 
MA=MB=MC=MD=1; 
TMOD = 0x11; //设定时器0和1为16位模式1 
ET0 = 1; //定时器0中断允许 
TR0=0; //定时器0计数停止 
TH0 = (65536-c)/256; 
TL0 = (65536-c)%256; 
turn = 1; 
IT0=1; //选择INT0为脉冲触发方式 
IT1=1; //选择INT1为脉冲触发方式 
EX0=1; //外部中断0允许 
EX1=1; //外部中断1允许 
EA=1; //系统中断允许 
speedlevel=1; 
} 

void led(unsigned int n) 
{ 
switch(n) 
{ 
case 0:LED_D=0;LED_C=0;LED_B=0;LED_A=1;break; 
case 1:LED_D=0;LED_C=0;LED_B=1;LED_A=0;break; 
case 2:LED_D=0;LED_C=0;LED_B=1;LED_A=1;break; 
case 3:LED_D=0;LED_C=1;LED_B=0;LED_A=0;break; 
} 
} 
void gorun() //步进电机驱动主函数 
{ 
switch(step_index) 
{ 
case 0: //A 
MA = 0; 
MB = 1; 
MC = 1; 
MD = 1; 
break; 
case 1: //AB 
MA = 0; 
MB = 0; 
MC = 1; 
MD = 1; 
break; 
case 2: //B 
MA = 1; 
MB = 0; 
MC = 1; 
MD = 1; 
break; 
case 3: //BC 
MA = 1; 
MB = 0; 
MC = 0; 
MD = 1; 
break; 
case 4: //C 
MA = 1; 
MB = 1; 
MC = 0; 
MD = 1; 
break; 
case 5: //CD 
MA = 1; 
MB = 1; 
MC = 0; 
MD = 0; 
break; 
case 6: //D 
MA = 1; 
MB = 1; 
MC = 1; 
MD = 0; 
break; 
case 7: //DA 
MA = 0; 
MB = 1; 
MC = 1; 
MD = 0; 
break; 
} 
if(turn==0) 
{ 
step_index++; 
if(step_index>7) 
step_index=0; 
} 
if(turn==1) 
{ 
step_index--; 
if(step_index<0) 
step_index=7; 
} 
} 
void INT0_interrupt() interrupt 0 // 红外线中断 
{ 
if(direct==0) 
currentfloor=currentfloor; 
if(direct==1) 
currentfloor=currentfloor+1; 
if(direct==2) 
currentfloor=currentfloor-1; 
led(currentfloor); 
if(direct!=0)//由while改过来的 
{ 
if(currentfloor==floor) 
{ 
ET0=EX0=0; // 关调用电梯的中断 
TR0=0; // 定时器0计时停止,便于不调用gorun 
// up_light=1; 
// down_light=1; 
door_light=0; // 门灯亮 
delay(65535); 
delay(65535); 
delay(65535); 
door_light=1; 
ET0=EX0=1; 
TR0=1; 
} 
// TR0 = 1; //开始计数 
speedlevel = 1; 
} 
} 
void timer0_int(void) interrupt 1 //定时器0中断处理 
{ 
TH0 = (65536-c)/256; 
TL0 = (65536-c)%256; 
count++; 
spcount--; 
/* if(currentfloor==floor||direct==0) 
{ 
TR0 = 0; // 关计数器计数，便于不调用gorun 
MA=MB=MC=MD=1; 
return; 
}*/ 
if(direct==0) 
{ 
up_light=1; 
down_light=1; 
} 
if(direct==1) 
{ 
turn=0; 
up_light=0; 
down_light=1; 
} 
if(direct==2) 
{ 
turn=1; 
up_light=1; 
down_light=0; 
} 
if(spcount<=0) 
{ 
spcount = speedlevel; 
gorun(); 
} 
} 
void INT1_interrupt() interrupt 2 // 读乙单片机发来的中断 
{ 
unsigned char direct_floor,x,y; //高四位 direct ，低四位 floor 
P0=0xff; 
direct_floor=P0; 
x=direct_floor&0xf0; 
y=direct_floor&0x0f; 
switch(x) 
{ 
case 0x00:direct=0;break; 
case 0x10:direct=1;break; 
case 0x20:direct=2;break; 
} 
switch(y) 
{ 
case 0x00:floor=0;break; 
case 0x01:floor=1;break; 
case 0x02:floor=2;break; 
case 0x03:floor=3;break; 
} 
} 
void main(void) 
{ 
system_init(); 
direct=floor=1; 
TR0=1; 
}