#include <reg52.h>/*電機驅動信號引腳定義*/ sbit IN1=P2^7; sbit IN2=P2^6; //sbit ENA=P2^5; sbit IN3=P2^4; sbit IN4=P2^3; //sbit ENB=P2^2;/*光電對管輸入信號引腳定義*/ sbit left1=P0^0; sbit left2=P0^1; sbit right1=P0^2; sbit right2=P0^3;/*電機PWM信號輸出引腳定義*/ sbit left_moto_pwm=P2^5; sbit right_moto_pwm=P2^2;/*附加引腳定義*/ sbit z=P1^1;//聲控非接觸式啟動 sbit f=P1^2;//蜂鳴器 sbit b=P0^4;//紅外避障識別/*電機運動簡便定義*/ #define left_moto_go {IN1=1,IN2=0;} #define left_moto_back {IN1=0,IN2=1;} #define right_moto_go {IN3=0,IN4=1;} #define right_moto_back {IN3=1,IN4=0;}/*相關變量定義*/ unsigned char pwm_val_left=0;//valid unsigned char push_val_left=0; unsigned char pwm_val_right=0; unsigned char push_val_right=0;/*延時函數*/ void delay(unsigned int k) { unsigned int x,y; for(x=0;x<k;x++); for(y=0;y<110;y++); }/*電機控制函數*/ void run(void) {push_val_left=20; push_val_right=20; left_moto_go; right_moto_go;}//直行void stop(void) {push_val_left=0; push_val_right=0; left_moto_go; right_moto_go;}//停止void leftturn1(void) { push_val_left=10; push_val_right=15; left_moto_back; right_moto_go;}//小左轉void rightturn1(void) { push_val_left=15; push_val_right=10; left_moto_go; right_moto_back;}//小右轉void leftturn2(void) { push_val_left=10;push_val_right=20; left_moto_back; right_moto_go;}//大左轉void rightturn2(void) { push_val_left=20; push_val_right=10; left_moto_go;right_moto_back;}//大右轉/*電機PWM生成函數*/ void pwm_out_left_moto(void) {if(pwm_val_left<=push_val_left)left_moto_pwm=1; else left_moto_pwm=0; if(pwm_val_left>=20) pwm_val_left=0; }void pwm_out_right_moto(void) { if(pwm_val_right<=push_val_right) right_moto_pwm=1; else right_moto_pwm=0; if(pwm_val_right>=20) pwm_val_right=0;}/*定時器中斷服務函數*/ void timer0()interrupt 1 using 2 { TH0=(65536-92)/256; TL0=(65536-92)%256; pwm_val_left++; pwm_val_right++; pwm_out_left_moto(); pwm_out_right_moto();}/*蜂鳴器函數*/void fmq(void) { f=1; delay(20); f=0;}/*運動控制函數*/ void xunji() { if(left2==1&&left1==1&&right1==1&&right2==1){ run();delay(1);}//直行if(left2==0&&left1==1&&right1==1&&right2==1){ leftturn1();delay(1);}//小左轉if(left2==1&&left1==0&&right1==1&&right2==1){ leftturn2(); delay(1); }//大左轉if(left2==0&&left1==0&&right1==1&&right2==1) { leftturn2(); delay(185); run();delay(100); }//左轉直行if(left2==1&&left1==1&&right1==0&&right2==1){rightturn1();delay(1); }//小右轉if(left2==1&&left1==1&&right1==1&&right2==0){ rightturn2(); delay(1);}//大右轉if(left2==1&&left1==1&&right1==0&&right2==0){ rightturn2();delay(185); run();delay(100); }//右轉直行if(left2==0&&left1==0&&right1==0&&right2==0) { stop();fmq();} //停止if(b==1) { fmq(); }//避障 }void main() {/*定時器初始化*/TMOD=0x01; TH0=(65536-92)/256; TL0=(65536-92)%256; EA=1; ET0=1; TR0=1; if(z==0){ /*循環檢測狀態*/ while(1){xunji();}}}

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