基于51單片機(jī)的智能小車系統(tǒng)設(shè)計(jì)

原理圖：

/*******************************************************************************

* 文件名稱：main.c

* 說(shuō)明：本文件為小車控制的主函數(shù)

* 功能：1.看門狗定時(shí)器初始化

2.調(diào)用函數(shù)，進(jìn)行小車直流電機(jī)的開環(huán)控制

*******************************************************************************/

#include? <AT89X52.h>

#include? <kongzhi.h>

/********************************************************

*函數(shù)名稱：void main()

*函數(shù)功能：調(diào)用函數(shù)

*函數(shù)入口：無(wú)

*函數(shù)出口：無(wú)

********************************************************/

void main()

{

WDT_CONTR=0x3b;

timer_init();????????????????? //初始化

while(1)

{

keyboard();????????? //鍵盤掃描

// jieshou();??????????? //遙控信號(hào)檢測(cè),要與傳感器實(shí)物連接才能正常使用.

xunji();????????????????? //循跡檢測(cè)

bizhang();???????????? //避礙物檢測(cè)

stop();?????????????????? //目標(biāo)站點(diǎn)檢測(cè)

WDT_CONTR=0x3b;? ?????? //喂狗

}

}

/*******************************************************************************

* 文件名稱：kongzhi.c

* 說(shuō)明：本文件為小車控制的c文件

* 功能：1.檢測(cè)障礙物傳感器查詢

2.小車的狀態(tài)控制

*******************************************************************************/

#include? <AT89X52.h>

#define???? kongzhi_GLOBAL 1

#include? <kongzhi.h>

uchar????? PWM_t,PWM_t0;??????????????? //PWM_t為脈沖寬度(0~100)時(shí)間為0~10ms

uchar????? time_count;?????? ???????????//定時(shí)計(jì)數(shù)

uint?????? number,number1;

uchar????? flag;??????????????? //flag為小車狀態(tài)標(biāo)志,0:停止,1:前進(jìn),2:后退

uchar????? flag2;????????????? //flag2為小車狀態(tài)恢復(fù)寄存區(qū),當(dāng)小車遇到障礙物停止,等到障礙物排除之后,小車在停止之前的狀態(tài)就寄存在flag2中

uchar????? flag3;????????????? //flag3為小車避障停止延時(shí)標(biāo)志,初始化為0,等待障礙排除之后賦值為1,開始計(jì)時(shí),數(shù)秒之后恢復(fù)停止前的行進(jìn)狀態(tài)

uchar????? flag4;???? //--flag4為看門狗復(fù)位后狀態(tài)恢復(fù)寄存區(qū)

uchar????? kind = 0;???????? //傳感器的種類

/********************************************************

*函數(shù)名稱：void bizhang()

*函數(shù)功能：遇到障礙物時(shí)的處理函數(shù)

*函數(shù)入口：無(wú)

*函數(shù)出口：無(wú)

********************************************************/

void bizhang()

{

zhang_ai = 1;

if(zhang_ai == 0)

{

flag2=flag;

flag=0;

while(zhang_ai == 0)

{

keyboard();

xunji();

stop();

WDT_CONTR=0x3b;

}

flag3=1;

}

}

/********************************************************

*函數(shù)名稱：void stop()

*函數(shù)功能：到達(dá)目標(biāo)點(diǎn)的控制函數(shù)

*函數(shù)入口：無(wú)

*函數(shù)出口：無(wú)

********************************************************/

void stop()

{

stop_1=1;????????????????????????????????? ? //目標(biāo)站點(diǎn)1

if(stop_1==0)flag=0;

stop_2=1;????????????????????????????????? ? //目標(biāo)站點(diǎn)2

if(stop_2==0)flag=0;

stop_3=1;????????????????????????????????? ? //目標(biāo)站點(diǎn)3

if(stop_3==0)flag=0;

}

/*******************************************************

*函數(shù)名稱：void timer_init()

*函數(shù)功能：定時(shí)器初始化設(shè)置

*函數(shù)入口：無(wú)

*函數(shù)出口：無(wú)

********************************************************/

void timer_init()

{

flag=0;flag3=0;

key = 0xFF;

TMOD = 0x20;???????????????????????????????????????????????????? //定時(shí)器1為模式2(8位自動(dòng)重裝)

TF1 = 0;??????????????????????????????????????????????????????? //清中斷標(biāo)志

TH1 = timer_data;???????????????????????????????????? //保證定時(shí)時(shí)長(zhǎng)為0.1ms

TL1 = TH1;

ET1 = 1;??????????????????????????????????????????????????????? //允許T0中斷

TR1 = 1;?????????????????????????????????????????????????????? //開始計(jì)數(shù)

EA = 1;????????????????????????????????????????????????????????? //中斷允許

ENA = 0;?????????????????????????????????????????????????????? //電機(jī)禁止

PWM_t = PWM_t0;?????????????????????????????????????????? //看門狗復(fù)位后速度恢復(fù)

flag = flag4;??????????????????????????????????????????????? //看門狗復(fù)位后小車狀態(tài)恢復(fù)

}

/*******************************************************

*函數(shù)名稱：void IntTime1() interrupt 3 using 2

*函數(shù)功能：定時(shí)器中斷處理，小車行走控制

*函數(shù)入口：無(wú)

*函數(shù)出口：無(wú)

********************************************************/

void IntTime1()interrupt 3????? using??????? 2

{

time_count++;

if(flag3)number++;

if(number==6000){number=0;number1++;}

if(number1==8){flag3=0;number1=0;flag=flag2;}

if(flag==0)ENA=0;???????????????????????????? //小車停止,flag=0,小車停止標(biāo)志

if(flag==1)?????????????????????????????????????????????????? //小車前進(jìn),flag=1,小車前進(jìn)標(biāo)志

{

ENA=1;???????????????????????????????????????????????????????? //PWM波輸出使能

DR=0;?????????????????????????????????????????????????????????? //直流電機(jī)一端接低電平

DR2=0;???????????????????????????????????????????????????????? //直流電機(jī)一端接低電平

if(kind==0)?????????????????????????????????????????????????? //沒有傳感器檢測(cè)到黑線,走直線

{?????? if(time_count<PWM_t)

{PWM=1;PWM2=1;}

else

{PWM=0;PWM2=0;}

}

if(kind==1)?????????????????????????????????????????????????? //左邊第一個(gè)傳感器檢測(cè)到黑線

{

if(time_count<(PWM_t-20))

{PWM=1;}

else

{PWM=0;}

if(time_count<PWM_t)

{PWM2=1;}

else

{PWM2=0;}

}

if(kind==2)?????????????????????????????????????????????????? //左邊第二個(gè)傳感器檢測(cè)到黑線

{

if(time_count<3)

{PWM=1;}

else

{PWM=0;}

if(time_count<PWM_t)

{PWM2=1;}

else

{PWM2=0;}

}

if(kind==3)?????????????????????????????????????????????????? //右邊第一個(gè)傳感器檢測(cè)到黑線

{

if(time_count<(PWM_t-20))

{PWM2=1;}

else

{PWM2=0;}

if(time_count<PWM_t)

{PWM=1;}

else

{PWM=0;}

}

if(kind==4)?????????????????????????????????????????????????? //右邊第二個(gè)傳感器檢測(cè)到黑線

{

if(time_count<3)

{PWM2=1;}

else

{PWM2=0;}

if(time_count<PWM_t)

{PWM=1;}

else

{PWM=0;}

}

}

if(flag==2)?????????????????????????????????????????????????? //小車倒退,flag=2,小車倒退標(biāo)志

{

ENA=1;

PWM=0;

PWM2=0;

if(kind==0)?????????????????????????????????????????????????? //沒有傳感器檢測(cè)到黑線,走直線

{?????? if(time_count<PWM_t)

{DR=1;DR2=1;}

else

{DR=0;DR2=0;}

}

if(kind==1)?????????????????????????????????????????????????? //左邊第一個(gè)傳感器檢測(cè)到黑線

{

if(time_count<(PWM_t-20))

{DR=1;}

else

{DR=0;}

if(time_count<PWM_t)

{DR2=1;}

else

{DR2=0;}

}

if(kind==2)?????????????????????????????????????????????????? //左邊第二個(gè)傳感器檢測(cè)到黑線

{

}

if(time_count >= PWM_T)????????? ? ??? //每輸出一個(gè)PWM波計(jì)數(shù)器清一次零,也即PWM波周期長(zhǎng)度

{

time_count=0;

}

}