2003简易智能小车程序

简易智能小车——2003年全国大学生电子设计竞赛系统的单片机程序#include "reg52.h"#define det_Dist 2.55 //单个脉冲对应的小车行走距离，其值为车轮周长/4#define RD 9 //小车对角轴长度#define PI 3.1415926#define ANG_90 90#define ANG_90_T 102#define ANG_180 189sbit P10=P1^0; //控制继电器的开闭sbit P11=P1^1; //控制金属接近开关sbit P12=P1^2; //控制颜色传感器的开闭sbit P07=P0^7; //控制声光信号的开启sbit P26=P2^6; //接收颜色传感器的信号，白为0，黑为1sbit P24=P2^4; //左sbit P25=P2^5; //右接收左右光传感器的信号，有光为0unsigned char mType=0; //设置运动的方式，0 向前1 向左2 向后3 向右unsigned char Direction=0; //小车的即时朝向0 朝上1 朝左2 朝下3 朝右unsigned sX=50; unsigned char sY=0; //小车的相对右下角的坐标CM（sX,sY）unsigned char StartTask=0; //获得铁片后开始执行返回卸货任务，StartTask置一unsigned char Inter_EX0=0; // 完成一个完整的任务期间只能有一次外部中断// Inter_EX0记录外部中断0的中断状态// 0 动作最近的前一次未中断过，// 1 动作最近的前一次中断过unsigned char cntIorn=0; //铁片数unsigned char bkAim=2; //回程目的地，0为A仓库，1为B仓库，2为停车场， //(在MAIN中接受铁片颜色判断传感器的信号来赋值)unsigned char Light_Flag=0;//进入光引导区的标志(1)unsigned int cntTime_5Min=0;//时间周期数,用于T0 精确定时unsigned int cntTime_Plues=0; //霍尔开关产生的脉冲数void delay(unsigned int time) // time*0.5ms延时{unsigned int i,j;for(j=0;j<time;j++){for(i=0;i<60;i++){;}}}void Display(unsigned char n){charNumb[12]={0x3F,0x06,0x5B,0x4F,0x66,0x6D,0x7D,0x07,0x7F,0x6F,0x37,0x77}; P0=Numb[n];}unsigned char LightSeek(){ void Display(unsigned char);bit l,r;l=P24;r=P25;if(l==0&&r==1){//Display(1);return (3); //偏左,向右开}if(r==0&&l==1){//Display(3);return(1); //偏右,向左开}if((l==1&&r==1)||(l==0&&r==0)){//Display(9);return(0); //没有偏离,前进}void IornColor(){delay(4000);bkAim=(int)(P26);Display((int)(P26)+2);}void ctrMotor_Adjust(unsigned char t){if(t==0){P2=P2&240|11; //用来解决两电机不对称的问题 delay(6);}if(t==3){P2=P2&250; //向左走delay(1);}if(t==1){P2=(P2&245);delay(1); //向右走}P2=((P2&240)|15);delay(10);}void ctrMotor_Dist(float dist,unsigned char type) {unsigned char t=0;mType=type;P2=((P2&240)|15);cntTime_Plues=(int)(dist/det_Dist);while(cntTime_Plues){if(Inter_EX0==1&&StartTask==0)cntTime_Plues=0;break;}if(Light_Flag==1) t=LightSeek();if(type==0) //向前走{P2=P2&249;delay(40);ctrMotor_Adjust(t);}if(type==2) //向后退{P2=P2&246;delay(50);ctrMotor_Adjust(t);}P2=((P2&240)|15);if(mType==2) delay(60);//刹车制动0.5mselse delay(75);}}void ctrMotor_Ang(unsigned char ang,unsigned char type,unsigned char dir) {unsigned char i=0;mType=type;P2=((P2&240)|15);cntTime_Plues=(int)((PI*RD*90/(180*det_Dist)*1.2)*ang/90);while(cntTime_Plues){if(Inter_EX0==1&&StartTask==0){cntTime_Plues=0;}if(type==1) //向左走{P2=P2&250;delay(100);ctrMotor_Adjust(0);}if(type==3) //向右走{P2=P2&245;delay(100);ctrMotor_Adjust(0);}P2=((P2&240)|15);delay(50);//刹车制动0.5ms}if(!(Inter_EX0==1&&StartTask==0)){Direction=dir;}}void rchPlace(){unsigned int time,b,s,g;time=(int)(cntTime_5Min*0.065535);//只有一个数码管时，轮流显示全过程秒数个十百b=time%100;s=(time-b*100)%100;g=(time-b*100-s*10)%10;if(bkAim==2){//到达停车场了，停车EA=0;P2=((P2&240)|15);{Display(10); //Ndelay(2000);Display(cntIorn);delay(2000);Display(11);//Adelay(2000);Display(b);delay(2000);Display(s);delay(2000);Display(g);delay(2000);}}else{if(Inter_EX0==1&&StartTask==1)P10=0; //到达仓库，卸下铁片 }}void BasicRoute(){ //Light_Flag=1;ctrMotor_Dist(153,0);//Light_Flag=0;ctrMotor_Ang(ANG_90,1,1);ctrMotor_Dist(100-sX,0);ctrMotor_Dist(125,2);ctrMotor_Dist(73,0);ctrMotor_Ang(ANG_90,1,2);//Light_Flag=1;ctrMotor_Dist(153,0);//Light_Flag=0;ctrMotor_Ang(ANG_180,1,0);rchPlace();}void TaskRoute(){//基本运行路线表,记载拐弯0 向前1 左拐2 向后3 右拐，正读去A区;反读去B区StartTask=1;ctrMotor_Ang(ANG_90_T,1,2);if(bkAim==1) //仓库A{ctrMotor_Dist(10,0);P2=((P2&240)|15);delay(60);ctrMotor_Ang(ANG_90_T,1,3);ctrMotor_Dist(100-sX,2);ctrMotor_Ang(ANG_90_T,1,2);Light_Flag=1;ctrMotor_Dist(153,2);Light_Flag=0;// ctrMotor_Ang(208,1,0);}else if(bkAim==0) //仓库B{ctrMotor_Dist(10,0);P2=((P2&240)|15);delay(60);ctrMotor_Ang(ANG_90_T,1,3);ctrMotor_Dist(100-sX,0);ctrMotor_Ang(ANG_90_T,1,0);Light_Flag=1;ctrMotor_Dist(153,2);Light_Flag=0;//ctrMotor_Ang(208,1,0);}delay(5000);rchPlace();}void main(){delay(4000);P2=0xff; //初始化端口P07=0;P1=0;TMOD=0x01; //初始化定时器0/1 及其中断TL0=0;TH0=0;TR0=1;ET0=1;ET1=1;IT0=1; //初始化外部中断EX0=1;IT1=1;EX1=1;EA=1;P11=1;while(1){Display(cntIorn);bkAim=2;BasicRoute();if(Inter_EX0==1)TaskRoute();//按获得铁片后的路线运动 IE0=0;EX0=1;}Inter_EX0=0;}}void tmOver(void) interrupt 1{cntTime_5Min++;TL0=0;TH0=0;if(cntTime_5Min>=4520){Display(5);P2=((P2&240)|15);EA=0; //停车程序P07=1;delay(4000);PCON=0X00;while(1);}}void fndIorn(void) interrupt 0{unsigned char i;P10=1;P2=((P2&240)|15); //停车P07=1;delay(1000);//刹车制动0.5msInter_EX0=1;cntIorn++;Display(cntIorn);for(i=0;i<40;i++){P2=P2&249;delay(2);P2=((P2&240)|15);delay(2);}P2=P2&249;delay(100);P2=((P2&240)|15); //停车IornColor(); //判断铁片黑白,设置bkAimfor(i=0;i<95;i++){P2=P2&249;delay(3);P2=((P2&240)|15);delay(2);}P2=((P2&240)|15); //停车delay(4000); //把铁片吸起来EX0=0;}void stpMove(void) interrupt 2{cntTime_Plues--;if(Direction==0) //向上{if(mType==0) sY+=det_Dist;else if(mType==2)sY-=det_Dist;}else if(Direction==1) //向左{if(mType==0) sX+=det_Dist;else if(mType==2)sX-=det_Dist;}else if(Direction==2) //向下{if(mType==0) sY-=det_Dist;else if(mType==2)sY+=det_Dist;}else if(Direction==3) //向右{if(mType==0) sX-=det_Dist; else if(mType==2)sX+=det_Dist;}。