循迹小车源程序

// Target : M16

// Crystal: 8.0000Mhz

#include

#include

#define uchar unsigned char

#define uint unsigned int

//global variable declaration

uint discrepancy=0;//,store the cerrent running condition

uint count_cross=0 ;//global variable,store the number of black0cross(include the starting ling) passed by

uint flag=0;//global variable ,if the running condition cann't be recognized ,set flag=1

//function declaration

void port_init(void);

void timer1_init(void);

void init_devices(void);

void motor(uchar index, uchar speed);//input PWM wave

void sensor_state(void);//get the running condition

void revise_to_line(void );//0=run forward,1=left,2=right,3=sever left,4=sever right

uint tiaoma_shibie(void);

void delayms(uint MS) ;

//*****************延时函数ms级***************************//

void delayms(uint MS)

{

uint i,j;

for( i=0;ifor(j=0;j<1141;j++); //1141是在8MHz晶振下

}

void port_init(void)

{

DDRA = 0x00;

DDRB = 0x0F;

DDRC = 0x00;

DDRD = 0x30;

PORTA = 0x00;

PORTB = 0x00;

PORTC = 0x00;

PORTD = 0x3c;

}

//initialize T/C1

void timer1_init(void)

{

TCCR1B = 0x00;//停止定时器

TIMSK |= 0x00;//中断允许

TCNT1H = 0x00;

TCNT1L = 0x00;//初始值

OCR1AH = 0x00;

OCR1AL = 0xF0;//匹配A值

OCR1BH = 0x00;

OCR1BL = 0xF0;//匹配B值

ICR1H = 0xFF;

ICR1L = 0xFF;//输入捕捉匹配值

TCCR1A = 0xA1;

TCCR1B = 0x01;//启动定时器

}

//call this routine to initialize all peripherals

void init_devices(void)

{

CLI(); //禁止所有中断

MCUCR = 0x00;

MCUCSR = 0x80;//禁止JTAG

GICR = 0x00;

SEI();//开全局中断

port_init( );

timer1_init( );

}

/*****************传感器函数********************/

//获取小车的行驶状态。0（直线），1（左偏），2（右偏），3（严重左偏），4（严重右偏）

//从左到右传感器（光电对管）对应的输入端口：PA0，PA1，PA2，PA3，PA4

//根据端口PA0，PA1，PA3，PA4的值判断行驶状态。（中间传感器PA2并未使用）

void sensor_state(void)

{

uchar state,state1,state2 ;//暂存PINA0~PINA4相应位的值

//flag=1; //default value: cann't be recognized

if(count_cross=0)//when all are not on the black line, if in the starting area, run forward,if not set flag=1

{

//state=0b00011011&PINA; //在启动区，直线前进

//if(state==0b00000000)

discrepancy=0;flag=0; return;

}

state=0b00011111&PINA;

if(state==0b00011111) {discrepancy=0;flag=0;count_cross++;return;}

state1=0b00001011&PINA;state2=0b00011010&PINA;

if((state1==0b00000111)|(state2==0b00011100)|state==0b00001110)

{discrepancy=0;flag=0;return; }// running through the black cross or starting line

//state=0b00000100&PINA;

//if(state==0b00000100) {discrepancy=0;return;}

//排除特例后，再进行各种情况的分析

sta

te1=0b00000010&PINA;state2=0b00000001&PINA;

if(state1==0b00000010)

{

if(state2==0b00000001) {discrepancy=4;flag=0; return;}

else {discrepancy=2;flag=0;return; }

}

state1=0b00001000&PINA;state2=0b00010000&PINA;

if(state1==0b00001000)

{

if(state2==0b00010000) {discrepancy=3;flag=0; return;}

else

{discrepancy=1;flag=0; return;}

}

//补充严重左偏或严重右偏的情况

state=0b00000001&PINA;

if(state==0b00000001) {discrepancy=4;flag=0;return; }

state=0b00010000&PINA;

if(state==0b00010000) {discrepancy=3;flag=0;return ;}

//if cann't be recongnized, keep discrepancy unchanged

//note:it sometimes runs wrongly when passing by the balck-cross

discrepancy=0;

return;

}

/************************循迹函数******************/

//ENA---PD4,ENB---PD5,PORTB0~3----IN1~3 ,L298电机驱动电路

void revise_to_line( )//0=run forward,1=left,2=right,3=sever left,4=sever right

{

//正常行驶速度

//motor(1,255);

//motor(2,255);

//if((count_cross==2)|(count_cross==3)) //上坡，下坡减速

//{

//motor(1,200);

//motor(2,200);

//}

if (discrepancy==0)

{

PORTB=0b11111001;

//while((0b00001110&PINA)==0b00000100);//get the value of PINA2,可用延时控制delay(10).

delayms(10);

return;

}

if (discrepancy==1)

{

PORTB=0b11111000;

while((0b00001000&PINA)==0b00001000);//get the value of PINA3

//check revise effection

// sensor_state();

//if(flag)

//{

//PORTB=0b11110001;//反向回调,可能出现退行。

// while((0b00000100&PINA)!=0b00000100);// assume if PINA2=1,then the conditon must can be recognized

//}

return;

}

if (discrepancy==2)

{

PORTB=0b11110001;

while((0b00000010&PINA)==0b00000010) ;//get the value of PINA1

//check revise effection

//sensor_state();

//if(flag)

//{

//PORTB=0b11111000;

//while((0b00000100&PINA)!=0b00000100);// assume if PINA2=1,then the conditon must can be recognized

// }

return;

}

if (discrepancy==3)

{

PORTB=0b11111000;

while((0b00001000&PINA)==0b00001000);//get the value of PINA3

//check revise effection

// sensor_state();

// if(flag)

// {

// PORTB=0b11110001;//反向回调,可能出现退行。

// while((0b00000100&PINA)!=0b00000100);// assume if PINA2=1,then the conditon must can be recognized

// }

return;

}

if (discrepancy==4)

{

PORTB=0b11110001;

while((0b00000010&PINA)==0b00000010) ;//get the value of PINA1

//check revise effection

// sensor_state();

// if(flag)

// {

// PORTB=0b11111000;

// while((0b00000100&PINA)!=0b00000100);// suppose if PINA2=1,then the conditon must can be recognized

// }

}

}

//note:the value of count_cross must be accurate(未考虑反复通过跷跷板的情况)

//PWM 调速,通过改变占空比，周期性地开闭使能端，调节电机的有效电压。

void motor(uchar index, uchar speed)

{

if(index==1)

{OCR1AH = 0x00;

OCR1AL =speed;

}

if(index==2)

{OCR1BH = 0x00;

OCR1BL =speed;

}

}

/*********************识别条形码函数***************/

//输入口PA5，传感器为光电对管

//uint area 指示机关区的位置

uint tiaoma_shibie(void)

{

uchar state;

uint t[5]={0};// t[i] store the time used when running through tiao xing ma

uint temp=0;//记录延时次数

uint t_ave,t_max,t_min,i=5;

uint flag1=1,flag2=1;

uint area;//ji lu ji guan shi wei zhi 0(D),1(C),2(B),3(A),4(wei shi bie qing kuang)

while(i>0)

{

flag1=0; //shi fou shi bie dao tiao xing ma

state=0b00100000&PINA;// use PORTA5 as input port

while(state==0b00100000) {delayms(10);temp++;flag1=1;state=0b00100000&PINA;}//assume 10ms is far less than the total time sued

if(flag1)//shi bie dao tiaoxingma

{

t[--i]=temp;

}

}

//tiaoxingma chu li

t_max=t_min=t[0];

for( i=1;i<5;i++)

{

if(t[i]>t_max) t_max=t[i];

else if(t[i]}

t_ave=(t_max+t_min)/2; //data type is int not float to reduce CPU resource used

//jie yi tiao xing ma

for( i=0;i<5;i++)

{

if(t[i]>t_ave) t[i]=1;

else if(t[i]else {flag2=0;break;} //yi chang qing kuang biao ji

}

if(flag2)

{

uint value;

value=t[0]+2*t[1]+4*t[2]+8*t[3]+16*t[4];

switch(value)

{

case 0b10011 :area=3;break;

case 0b10101 :area=2;break;

case 0b10111 :area=1;break;

case 0b11001 :area=0;break;

case 0b11011 :area=2;break;

case 0b11101 :area=1;break;

default: area=4; //wei shi bie qing kuang

}

}

else area=4 ; //tiao ma wei shi bie

return area;

}

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

//all the functions above have been tested successfully.2010-9-21

//

void main(void)

{

//uint A;

//PORTB=0x09;

init_devices();

//motor(1,255);

//motor(2,255);

// while(1){sensor_state( );revise_to_line( );}

//uint A;

//A=tiaoma_shibie( );

motor(1,255);

motor(2,255);

while(1)

if((PINA&0x40)==0x00)break;

//motor(1,100);

//motor(1,100);

while(1){sensor_state( );revise_to_line( );}

//have been downloded

}