/**********飞思卡尔智能汽车程序***/

//资源分配如下

//舵机用定时器0频率为50HZ

//直流用定时器1频率为10KHZ

//测速用外部中断0周期为50ms

#include<AT89X52.h>

#defineucharunsigned char

#defineuint unsigned int

sbit PWM_Steer=P1^0;

sbit PWM_IN1=P1^2;

sbit PWM_IN2=P1^3;

//****舵机控制量************

//====f=24MHz

ucharangle=8;

/*

uchar Low_Angle_L[]={0x6d,0xdc,0x4b,0xba,0x29,0x98,0x07,0x77,0xe6, 0x55,0xc4,0x34,0xa2,0x11,0x80};

uchar High_Angle_L[]={0x6c,0x6c,0x6d,0x6d,0x6e,0x6e,0x6f,0x6f,0x6f,0x70,0x70,0x71,0x71,0x72,0x72};

uchar Low_Angle_H[]={0x50,0xe1,0x72,0x03,0x94,0x25,0xb6,0x47,0xd7,0x68,0xf9,0x8a,0x1b,0xac,0x3d};

uchar High_Angle_H[]={0xf7,0xf6,0xf6,0xf6,0xf5,0xf5,0xf4,0xf4,0xf3,0xf3,0xf2,0xf2,0xf2,0xf1,0xf1};

*/

//===f=11.0592

uchar Low_Angle_L[]={0x00,0x33,0x66,0x99,0xcc,0x00,0x33,0x66,0x99,0xcc,0x00,0x33,0x66,0x99,0xcc};

uchar High_Angle_L[]={0xbc,0xbc,0xbc,0xbc,0xbc,0xbd,0xbd,0xbd,0xbd,0xbd,0xbe,0xbe,0xbe,0xbe,0xbe};

uchar Low_Angle_H[]={0x00,0xcc,0x99,0x66,0x33,0x00,0xcc,0x99,0x66,0x33,0x00,0xcc,0x99,0x66,0x33};

uchar High_Angle_H[]={0xfc,0xfb,0xfb,0xfb,0xfb,0xfa,0xfa,0xfa,0xfa,0xfa,0xf9,0xfb,0xf9,0xf9,0xf9};

/*

//****直流电机控制量********

uchar code speed_hope[]={52,78,104,130,130,156,182,208,182,156,130,130,104,78,52}; //期望的速度值

uchar PWM_H_D=0x00;

uchar PWM_L_D=0xff; //PID运算之后

uchar last_error=0,pre_error=0;

uchartimes_stopline=0;

ucharstop=0;

*/

//******子程序*************

voidInit();

voidRoute_Detect();

voidStart_Delay(uchar);

//******主程序*************

void main()

{

PWM_IN1=1;

PWM_IN2=0;

Init();

Start_Delay(2);

while(1)

{

Route_Detect();

}

}

//*********初始化************************

voidInit()

{

IE=0X8b;

TMOD=0X11;

TH0=0XF4;

TL0=0X48;

TH1=0X38;

PWM_IN1=1;

PWM_IN2=0;

TCON=0X53;

}

//********路径检测*****************

void Route_Detect()

{

uchar led1,led2;

led1=P0;

led2=P2;

if(((led1==0xf3)||(led1==0xfb)||(led1==0xfc)||(led1==0xfe)||(led1==0xfd)||(led1==0xf9))&&(led2==0xff))

angle=0; //-35

else if((led1==0xf7)&&(led2==0xff))

angle=1; //-30

else if((led1==0xe7)&&(led2==0xff))

angle=2; //-25

else if((led1==0xef)&&(led2==0xff))

angle=3; //-20

else if((led1==0xcf)&&(led2==0xff))

angle=4; //-15

else if((led1==0xdf)&&(led2==0xff))

angle=5; //-10

else if((led1==0x9f)&&(led2==0xff))

angle=6; //-5

else if((led1==0xbf)&&(led2==0xff))

angle=7; //0

else if((led1==0x3f)&&(led2==0xff))

angle=8; //5

else if((led1==0x7f)&&(led2==0xff))

angle=9; //10

else if((led1==0x7f)&&(led2==0xfe))

angle=10; //15

else if((led1==0xff)&&(led2==0xfe))

angle=11; //20

else if((led1==0xff)&&(led2==0xfc))

angle=12; //25

else if((led1==0xff)&&(led2==0xfd))

angle=13; //30

else if((led1==0xff)&&((led2==0xf9)||(led2==0xfb)||(led2==0xf3)||(led2==0xf7)||(led2==0xef)||(led2==0xe7)))

angle=14; //35

else

angle=9;

}

//********舵机控制*****************

voidSteer_Control() interrupt 1

{

if(PWM_Steer==1)

{

TL0=Low_Angle_L[angle];

TH0=High_Angle_L[angle];

PWM_Steer=0;

}

else

{

TL0=Low_Angle_H[angle];

TH0=High_Angle_H[angle];

PWM_Steer=1;

}

} /*

//*******速度检测***************

voidSpeed_Test()interrupt 0

{

speed_count++;

}

//********速度运算*****************

voidspeed_cal()

{

if(speed_t>=100)

{

EX0=0;

speed=26*speed_count;//(cm/s)

speed_count=0;

EX0=1;

}

}

//*********PID运算******************

void PID()

{

int PID;

int error;

int derror;

int pre_derror;

error=speed_hope[angle]-speed;

derror=error-last_error;

pre_derror=last_error-pre_error;

PID=PID_P*derror+PID_I*error+PID_D*(derror-pre_error);

PWM_H_D=256-(PWM_H_D+PID);

PWM_L_D=256-(PWM_L_D-PID);

pre_error=last_error;

last_error=error;

}

//*************************

void Motor_Contol() interrupt 3

{

speed_t++;

if(stop==1) //当停车标志为1时给直流电机制动脉冲

{

if(PWM_IN2==0)

{

TH1=trig_H_TH1;

TL1=trig_H_TL1;

PWM_IN2=1;

PWM_IN1=0;

}

else

{

TH1=trig_L_TH1;

TL1=trig_L_TL1;

PWM_IN2=0;

PWM_IN1=0;

}

if(speed<=0) //当速度减少到0时停车

{

TR1=0;

PWM_IN1=0;

PWM_IN2=0;

}

}

else

{

if(((angle>=11)||(angle<=3))&&(speed_hope[angle]<speed))

{

if(PWM_IN2==1)

{

TL1=speed_d_l;

TH1=0xff;

PWM_IN1=0;

PWM_IN2=0;

}

else

{

TL1=speed_d_h;

TH1=0xff;

PWM_IN1=0;

PWM_IN2=1;

}

}

else

{

if(PWM_IN1==1)

{

TH1=0XFF;

TL1=0x38;

PWM_IN1=0;

PWM_IN2=0;

}

else

{

TH1=0XFF;

TL1=0xff;

PWM_IN1=1;

PWM_IN2=0;

}

}

}

} */

//===========

void Start_Delay(uchar k)

{

int i=4000; //当K为1时定时1S

int j=1000;

for(;k>=0;k--)

for(;i>=0;i--)

for(;j>=0;j--)

;

}