資源簡介
AGV小車,即循跡小車的程序,電路圖,仿真圖。

代碼片段和文件信息
#include
#define?uchar?unsigned?char?
#define?uint?unsigned?int
uchar?tempsignaltt1;
void?delay_1ms(uint?d)
{
uint?i;
while(d--)
for(i=0;i<75;i++);
}
void?motor_run() ???//電機起動
{
?? P1=0x35;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
/* ENA=1;
OUT1=0;
OUT2=1;
delay_1ms(800);
OUT2=0;
delay_1ms(200);
ENB=1;
OUT4=0;
OUT3=1;
delay_1ms(800);
OUT3=0;
delay_1ms(200);
*/
}
void?motor_left() ?//左進
{
P1=0x30;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
}
void?motor_right() ???//右進
{
P1=0x05;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
}
void?motor_big_right() ?//粗右進
{
P1=0x55;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
}
void?motor_big_left()
{
P1=0x33;
delay_1ms(150);
P1=0x00;
delay_1ms(20);
}
?void?motor_stop() //電機停止
{
?P1=0x00;
}
void?motor_back()
{
P1=0x53;
}
void?main()
{
tt1=0;
EA=1;
ET1=1;
TR1=1;
TMOD=0x01;
TH1=-(1000/256);
TL1=-(1000%256);
while(1)
{
? temp=P2;
signal=temp&0xff; ???//得到紅外反向信號
switch(signal)
{
case?0xff: ???//無偏差
motor_run();
break;
case?0xfd: ???//1輪右偏
motor_left();
break;
case?0xef: ????//4輪左偏 ???
motor_right();?
break;
case?0xfb:?????//2輪右偏出軌
case?0xf9: ???//1、2輪右偏
? motor_big_left();
// delay_1ms(10);
break;
case?0xdf: ???//5左偏出軌 ???
case?0xcf:??????//4、5輪左偏
? motor_big_right();
// delay_1ms(10);
break;
case?0xfe: ???//0最右偏出軌 ???
case?0xfa:
? motor_big_left();
// delay_1ms(10);
break;
case?0xbf:?????//6最左偏出軌 ??
? case?0x9f: ???
motor_big_right();
// delay_1ms(10);
break;
case?0xeb: ?//前兩傳感器壓在黑線上
case?0xdb: ?//后兩傳感器壓在黑線上
case?0xbe: ?//中間兩傳感器壓在黑線上
case?0xac: ? //前四傳感器壓在黑線上
case?0x9a: //后四傳感器壓在黑線上
motor_back();
delay_1ms(200);
motor_stop();
// delay_1ms(1000); ??
default:
break;
}??
}?
}
void?time1()?interrupt?3
{
TH1=-(1000/256);
TL1=-(1000%256);
tt1++;
if(tt1==300)
{
motor_back();
// delay_1ms(1);
tt1=0;
}
}
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件??????38288??2009-07-29?13:51??小車程序、仿真、電路圖\Backup?of?(可取)得低電平.Sch
?????文件??????38618??2009-07-29?13:51??小車程序、仿真、電路圖\Backup?of?得高電平.Sch
?????文件?????137056??2009-07-29?13:52??小車程序、仿真、電路圖\Last?Loaded?電機.DBK
?????文件?????514048??2010-08-14?00:26??小車程序、仿真、電路圖\smallcar(C52).ddb
?????文件???????6376??2005-03-22?15:22??小車程序、仿真、電路圖\STARTUP.A51
?????文件??????14048??2009-07-26?00:05??小車程序、仿真、電路圖\STARTUP.LST
?????文件????????749??2009-07-26?00:05??小車程序、仿真、電路圖\STARTUP.OBJ
?????文件??????15872??2009-07-15?11:50??小車程序、仿真、電路圖\小車清單.XLS
?????文件???????5797??2009-07-26?00:05??小車程序、仿真、電路圖\循跡小車
?????文件???????2294??2009-07-26?00:07??小車程序、仿真、電路圖\循跡小車.c
?????文件???????1055??2009-07-26?00:05??小車程序、仿真、電路圖\循跡小車.hex
?????文件?????????64??2009-07-26?00:05??小車程序、仿真、電路圖\循跡小車.lnp
?????文件??????14319??2009-07-26?00:05??小車程序、仿真、電路圖\循跡小車.LST
?????文件??????11403??2009-07-26?00:05??小車程序、仿真、電路圖\循跡小車.M51
?????文件???????6325??2009-07-26?00:05??小車程序、仿真、電路圖\循跡小車.OBJ
?????文件???????1344??2010-08-10?21:01??小車程序、仿真、電路圖\循跡小車.Opt
?????文件????????199??2010-08-10?20:56??小車程序、仿真、電路圖\循跡小車.plg
?????文件???????2043??2010-08-10?21:01??小車程序、仿真、電路圖\循跡小車.Uv2
?????文件???????1351??2009-07-26?17:16??小車程序、仿真、電路圖\循跡小車_Opt.Bak
?????文件???????2161??2009-07-19?02:00??小車程序、仿真、電路圖\循跡小車_Uv2.Bak
?????文件?????137048??2009-07-29?13:54??小車程序、仿真、電路圖\循跡小車仿真.DSN
?????文件???????7517??2009-07-29?00:35??小車程序、仿真、電路圖\循跡小車(修正)
?????文件???????3231??2009-07-29?00:35??小車程序、仿真、電路圖\循跡小車(修正).c
?????文件???????1463??2009-07-29?00:35??小車程序、仿真、電路圖\循跡小車(修正).hex
?????文件?????????64??2009-07-29?00:35??小車程序、仿真、電路圖\循跡小車(修正).lnp
?????文件??????11147??2009-07-29?00:35??小車程序、仿真、電路圖\循跡小車(修正).LST
?????文件??????11950??2009-07-29?00:35??小車程序、仿真、電路圖\循跡小車(修正).M51
?????文件???????9271??2009-07-29?00:35??小車程序、仿真、電路圖\循跡小車(修正).OBJ
?????文件????????993??2010-08-10?21:00??小車程序、仿真、電路圖\循跡小車(修正).Opt
?????文件????????207??2010-08-10?21:00??小車程序、仿真、電路圖\循跡小車(修正).plg
............此處省略8個文件信息
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