基于51开发板循迹小车（基础模型——简陋版）后续会改进

功能组成：

开发板：51

驱动模块：TT电机

循迹模块—>TCRT5000传感器

原理：循迹模块使用
TCRT5000传感器的红外发射二极管不断发射红外线，当发射出的红外线没有被反射回来或被反射回来但强度不够大时,红外接收管- -直处于关断状态,此时模块的输出端为高电平,指示二_极管-直处于熄灭状态，被检测物体出现在检测范围内时，红外线被反射回来且强度足够大，红外接收管饱和,此时模块的输出端为低电平，指示二极管被点亮。

代码：

main.c

#include "reg52.h"
#include "moto.h"
#include "Delay.h"
#include "uart.h"
#include "time.h"

extern char speedLeft;
extern char speedRight;

sbit leftSensor = P2^7;
sbit rightSensor = P2^6;

void main()
{
    
    
	Time0Init();
	Time1Init();
	//UartInit();
    while(1){
    
    
		if(leftSensor == 0 && rightSensor == 0){
    
    
			goForward();
			speedLeft = 25;
		    speedRight = 25;
		}
		if(leftSensor == 1 && rightSensor == 0){
    
    
			goLeft();
			speedLeft = 15;
		    speedRight = 40;
		}
		
		if(leftSensor == 0 && rightSensor == 1){
    
    
			goRight();
			speedLeft = 40;
		    speedRight = 15;
		}
		
		if(leftSensor == 1 && rightSensor == 1){
    
    
			//ͣ
			speedLeft = 0;
		    speedRight = 0;
		}
		
	}
}

moto.c

#include "reg52.h"
#include <intrins.h>
sbit RightCon1A =P3^2;
sbit RightCon1B =P3^3;

sbit LeftCon1A =P3^4;
sbit LeftCon1B =P3^5;



void goForwardLeft()
{
    
    
    LeftCon1A = 0;
    LeftCon1B = 1;

}
void stopLeft()
{
    
    
	LeftCon1A = 0;
	LeftCon1B = 0;
	

}
void goForwardRight()
{
    
    


    RightCon1A = 0;
    RightCon1B = 1;
}
void stopRight()
{
    
    
	
	
	RightCon1A = 0;
	RightCon1B = 0;
}
void goForward()
{
    
    
    LeftCon1A = 0;
    LeftCon1B = 1;

    RightCon1A = 0;
    RightCon1B = 1;
}

void goBack()
{
    
    
    LeftCon1A = 1;
    LeftCon1B = 0;

    RightCon1A = 1;
    RightCon1B = 0;
}
void goLeft()
{
    
    
    LeftCon1A = 0;
    LeftCon1B = 1;

    RightCon1A = 0;
    RightCon1B = 0;
}
void goRight()
{
    
    
    LeftCon1A = 0;
    LeftCon1B = 0;

    RightCon1A = 0;
    RightCon1B = 1;
}
void stop()
{
    
    
	LeftCon1A = 0;
	LeftCon1B = 0;
	
	RightCon1A = 0;
	RightCon1B = 0;
}

uart.c

#include "reg52.h"
#include "moto.h"
#include "string.h"
#include "Delay.h"
sbit D5 = P3^7;
#define SIZE 12

sfr AUXR = 0x8E;
char buffer[SIZE];

void UartInit(void)		//[email protected]
{
    
    
	AUXR = 0x01;
	SCON = 0x50; //配置串口工作方式1，REN使能接收
	TMOD &= 0x0F;
	TMOD |= 0x20;//定时器1工作方式位8位自动重装
	
	TH1 = 0xFD;
	TL1 = 0xFD;//9600波特率的初值
	TR1 = 1;//启动定时器
	
	EA = 1;//开启总中断
	ES = 1;//开启串口中断
}

//M1qian  M2 hou M3 zuo  M4 you
void Uart_Handler() interrupt 4
{
    
    
	static int i = 0;//静态变量，被初始化一次
	char tmp;

	if(RI)//中断处理函数中，对于接收中断的响应
	{
    
    
			RI = 0;//清除接收中断标志位
			tmp = SBUF;
			if(tmp == 'M'){
    
    
				i = 0;
			}
			buffer[i++] = tmp;
		
			//灯控指令
			if(buffer[0] == 'M'){
    
    
				switch(buffer[1]){
    
    
					case '1':
						goForward();
					Delay10ms();
						break;
					case '2':
						goBack();
					Delay10ms();
						break;
					case '3':
						goLeft();
					Delay10ms();
						break;
					case '4':
						goRight();
					Delay10ms();
						break;
					default:
						stop();
						break;
				}
			}
		
			if(i == 12) {
    
    
				memset(buffer, '\0', SIZE);
				i = 0;
			}
	}

}

time.c

#include "moto.h"
#include "reg52.h"

char speedLeft;
char cntLeft = 0;

char speedRight;
char cntRight = 0;

void Time1Init()
{
    
    
	//1. 配置定时器1工作模式位16位计时
	TMOD &= 0x0F;
	TMOD |= 0x1 << 4;
	//2. 给初值，定一个0.5出来
	TL1=0x33;
	TH1=0xFE;
	//3. 开始计时
	TR1 = 1;
	TF1 = 0;
	//4. 打开定时器1中断
	ET1 = 1;
	//5. 打开总中断EA
	EA = 1;
}


void Time0Init()
{
    
    
	//1. 配置定时器0工作模式位16位计时
	TMOD = 0x01;
	//2. 给初值，定一个0.5出来
	TL0=0x33;
	TH0=0xFE;
	//3. 开始计时
	TR0 = 1;
	TF0 = 0;
	//4. 打开定时器0中断
	ET0 = 1;
	//5. 打开总中断EA
	EA = 1;
}

void Time1Handler() interrupt 3
{
    
    
	cntRight++;  //统计爆表的次数. cnt=1的时候，报表了1
	//重新给初值
	TL1=0x33;
	TH1=0xFE;
	
	//控制PWM波
	if(cntRight < speedRight){
    
    
		//右前进
		goForwardRight();
	}else{
    
    
		//停止
		stopRight();
	}
	
	if(cntRight == 40){
    
    //爆表40次，经过了20ms
		cntRight = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s
	}

}

void Time0Handler() interrupt 1
{
    
    
	cntLeft++;  //统计爆表的次数. cnt=1的时候，报表了1
	//重新给初值
	TL0=0x33;
	TH0=0xFE;
	
	//控制PWM波
	if(cntLeft < speedLeft){
    
    
		//左前进
		goForwardLeft();
	}else{
    
    
		//停止
		stopLeft();
	}
	
	if(cntLeft == 40){
    
    //爆表40次，经过了20ms
		cntLeft = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s
	}

}

moto.h

void goForward();
void goBack();
void goLeft();
void goRight();
void stop();
void goForwardLeft();
void stopLeft();
void goForwardRight();
void stopRight();

Delay.h

Delay2000ms();
Delay10ms();

uart.h

void UartInit(void);

time.h

void Time0Init();
;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s
	}

}

moto.h

void goForward();
void goBack();
void goLeft();
void goRight();
void stop();
void goForwardLeft();
void stopLeft();
void goForwardRight();
void stopRight();

Delay.h

Delay2000ms();
Delay10ms();

uart.h

void UartInit(void);

time.h

void Time0Init();
void Time1Init();