西北农林科技大学智能小车实习总结（完整版） - 图文

} }

2.3.3直流电机小车测速任务实现 ①直流电机小车测速任务实现程序：

void timer0()interrupt 1

using 2

{

2.3.4直流电机小车四路寻迹任务实现 ①直流电机小车四路寻迹任务实现程序 #include #define Left_1_led P3_4 #define Left_2_led P3_5 #define Right_1_led P3_6 #define Right_2_led P3_7 #define #define #define #define #define #define

disbuff[1]=V00/100;

disbuff[2]=V000/10;

disbuff[3]=V000;

} void

}

TH0=(65536-2000)/256; TL0=(65536-2000)%6; time++; Display_SMG(); if(time>=250) {

time=0; V=count1*2; count1=0;

disbuff[0]=V/1000;

intersvr1(void)interrupt 0 using 1000

{ }

count1++

{P1_4=0,P1_5=0,P1_6=0,P1_7=0;}

void delay(unsigned int k) { }

//全速前进 void run(void) { }

//全速后退

void backrun(void) {

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unsigned int x,y; for(x=0;x

for(y=0;y<125;y++);

Left_moto_go Left_moto_back Left_moto_Stop Right_moto_go Right_moto_back Right_moto_Stop {P1_0=1,P1_1=0,P1_2=1,P1_3=0;} {P1_0=0,P1_1=0,P1_2=0,P1_3=1;} {P1_0=0,P1_1=0,P1_2=0,P1_3=0;} {P1_4=1,P1_5=0,P1_6=1,P1_7=0;} {P1_4=0,P1_5=1,P1_6=0,P1_7=1;}

Left_moto_go; Right_moto_go;

}

Left_moto_back Right_moto_back

}

/*--主函数--*/ void main(void) {

动状态

} }

delay(100); run(); while(1) {

run();//将run()改成

//左转

void leftrun(void) { } //右转

void rightrun(void) {

Left_moto_go; Right_moto_back; Left_moto_back; Right_moto_go;

其他三种运动状态即可实现其他三种运

2.3.5直流电机小车避障任务实现 ①直流电机小车避障任务实现程序： #include #define Left_1_led P3_4 #define Left_2_led P3_5 #define Right_1_led P3_6 #define Right_2_led P3_7 #define #define #define #define #define #define

Left_moto_go Left_moto_back Left_moto_Stop Right_moto_go Right_moto_back Right_moto_Stop {P1_0=1,P1_1=0,P1_2=1,P1_3=0;} {P1_0=0,P1_1=0,P1_2=0,P1_3=1;} {P1_0=0,P1_1=0,P1_2=0,P1_3=0;} {P1_4=1,P1_5=0,P1_6=1,P1_7=0;} {P1_4=0,P1_5=1,P1_6=0,P1_7=1;} {P1_4=0,P1_5=0,P1_6=0,P1_7=0;}

void delay(unsigned int k) {

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}

unsigned int x,y; for(x=0;x

for(y=0;y<125;y++);

//全速前进 void run(void) { }

//全速后退

void backrun(void) { } //左转

void leftrun(void) {

Left_moto_back Right_moto_back Left_moto_go; Right_moto_go;

}

Left_moto_back; Right_moto_go;

{

2_led==1)

1)

} }

{

backrun(); rightrun(); } else { } else { }

backrun(); backrun(); leftrun();

}

if(Left_1_led==0&&Right_2_led==

{ } else {

run();

if(Left_1_led==1&&Right_

//右转

void rightrun(void) { }

/*--主函数--*/ void main(void) {

动状态

}

void main(void) { while(1)

2.3.6直流电机小车红外遥控任务实现 ①直流电机小车红外遥控任务实现程序： #include #define Left_1_led P3_4 #define Left_2_led P3_5 #define Right_1_led P3_6

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Left_moto_go; Right_moto_back;

delay(100); run(); while(1) {

run();//将run()改成if(Right_2_led==0&&Left_1_led==1)

其他三种运动状态即可实现其他三种运

}

if(Left_1_led==0&&Right_2_led==0)

delay(100); { }

run();

#define Right_2_led P3_7 #define #define

Left_moto_go Left_moto_back

{P1_0=1,P1_1=0,P1_2=1,P1_3=0;}

{P1_0=0,P1_1=0,P1_2=0,P1_3=1;}

#define #define #define #define

{P1_0=0,P1_1=0,P1_2=0,P1_3=0;}

Right_moto_go Right_moto_back Right_moto_Stop {P1_4=1,P1_5=0,P1_6=1,P1_7=0;} {P1_4=0,P1_5=1,P1_6=0,P1_7=1;} {P1_4=0,P1_5=0,P1_6=0,P1_7=0;}

#define Imax 14000 #define Imin 8000 #define Inum1 1450 #define Inum2 700 #define Inum3 3000 unsigned char f=0; unsigned

Im[4]={0x00,0x00,0x00,0x00};

unsigned char show [2] = {0,0};

unsigned long m,Tc; unsigned char IrOK; //延时

void delay(unsigned int k) { }

//外部中断解码程序 void

intersvr1(void)interrupt 2 using 1

{

TL0=0; if(Tc>Imin)&&(Tc

m=0; f=1; return;

Left_moto_Stop //定时中断重新置零

} if(f==1) {

//找到起始码

if(Tc>Inum1&&Tc

}

m++; {

char Im[m/8]=Im[m/8]>>1|0x80;

if(Tc>Inum2&&Tc

}

if(m==32) {

m=0; f=0;

if(Im[2]==~Im[3]) { } {

Im[m/8]=Im[m/8]>>1;

m++;

unsigned int x,y; for(x=0;x

for(y=0;y<125;y++);

//取码

Tc=TH0*256+TL0TH0=0;

； IrOK = 1;

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//提取中断时间间隔时长

else IrOK = 0;