智能车控制系统的研制（毕业设计论文） - 图文

东北电力大学自动化工程学院学士学位论文

PLL(); ECT_Init(); PIT_Init(); pwm_ts();

PWMDTY4 = 5; //初始占空比为50% PID_CS();

PD_CS(); PWMDTY1 = 200; EnableInterrupts; for(;;) {

PORTA_PA2 = 1; delay();

if(PORTB_PB1==0){ weizhi = -3; } delay();

PORTA_PA2 = 0; PORTA_PA3 = 1; delay();

if(PORTB_PB1==0){ weizhi = -2; } delay();

PORTA_PA3 = 0; PORTA_PA4 = 1; delay();

if(PORTB_PB1==0){ weizhi = -1; } delay();

PORTA_PA4 = 0; PORTA_PA5 = 1;

//初始化PID //初始速度 -35-

delay();

if(PORTB_PB1==0){ weizhi = 0; } delay();

PORTA_PA5 = 0; PORTB_PB2 = 1; delay();

if(PORTB_PB1==0){ weizhi = 0; } delay();

PORTB_PB2 = 0; PORTB_PB3 = 1; delay();

if(PORTB_PB5==0){ weizhi = 1; } delay();

PORTB_PB3 = 0; PORTB_PB4 = 1; delay();

if(PORTB_PB5==0){ weizhi = 2; } delay();

PORTB_PB4 = 0; PORTA_PA6 = 1; delay();

if(PORTB_PB5==0){ weizhi = 3; }

附录

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东北电力大学自动化工程学院学士学位论文

delay(); PORTA_PA6 = 0; delay1(); QD(weizhi); JD_PD(Turn); SD_PID(Speed);

_FEED_COP(); /* feeds the dog */ } /* loop forever */

/* please make sure that you never leave main */ }

//--------------------脉冲计数:-------------------------------// //智能车转速测量计数子函数

#pragma CODE_SEG NON_BANKED //定时器通道0输入捕捉中断 void interrupt 8 Timer0_Onput(void) {

TFLG1_C0F=1; //清中断标志位 Input_Num++; }

//--------------------定时处理:-------------------------------// //PIT定时时间处理子函数

#pragma CODE_SEG NON_BANKED //定时中断PIT0 void interrupt 66 PIT0_Onput(void) {

PITTF_PTF0=1; //清中断标志位 SD_sum=Input_Num;//速度值附值 Input_Num=0; //计数清零 }

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致谢

致 谢

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