西北农林科技大学智能小车实习总结（完整版） - 图文

ght==0)

if(ir_left==1&&ir_mid==0&&ir_right==1)

if(ir_left==1&&ir_mid==0&&ir_right==0)

if(ir_left==0&&ir_mid==1&&ir_right==1)

}

}

}

- 46 -

move_right(15,1,1);

}

delay(400);

{

move_left(15,0,1);

delay(400);

move_right(15,0,1);

if(ir_left==0&&ir_mid==1&&ir_ri

}

delay(800); {

ght==0)

move_left(15,0,1); move_right(15,0,1);

{

move_left(15,0,1);

delay(800);

move_right(15,0,1);

if(ir_left==0&&ir_mid==0&&ir_ri

}

delay(400); {

ght==1)

move_left(15,1,1); move_right(15,1,1);

{

move_left(15,0,1);

delay(400);

move_right(15,0,1);

if(ir_left==0&&ir_mid==0&&ir_ri

}

}

} {

ght==0)

move_left(15,1,1); move_right(15,1,1);

{

move_left(15,1,1);

void

interrupt 3

{

timer1_serve()

{

clk_left=~clk_left;

TH1=(65536-100)/256; TL1=(65536-100)%6; n=n+1; if(n==speed)

clk_right=~clk_right;

}

}

n=0;

3.3.6步进电机小车的任务集成控制实现（改进） ①步进电机小车的任务集成控制程序如下：

#include \#include \#include #include

#define uchar unsigned char #define uint unsigned int sbit en_left = P1^0; sbit cw_left = P1^1; sbit clk_left = P1^2; sbit en_right = P1^3; sbit cw_right = P1^4; sbit clk_right = P1^5; sbit B_key=P2^0; sbit D_key=P2^1; sbit A_key=P2^2; sbit C_key=P2^6; sbit ir_left=P2^5; sbit ir_right=P2^4; void timer_init(); void void

move_left(uint move_right(uint speed_l,uchar cw,uchar en); speed_r,uchar cw,uchar en);

void delay(unsigned int k); uint nl; uint nr;

- 47 -

uint speedl; uint speedr;

void delay(unsigned int k) { }

void timer1_init() { } void {

speedl=speed_l; if(cw==1) {cw_left=1;} else

move_left(uint

speed_l,uchar cw,uchar en)

TMOD=0x10; ET1=1; EA=1;

TH1=(65536-100)/256; TL1=(65536-100)%6; TR1=1;

unsigned int i,j; for(i=0;i

{;}}