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#include <reg52.h>
#include <intrins.h>
#define uchar unsigned char
#define uint unsigned int
sbit ENA_pwm = P2^6; //PWM信號(hào)端
sbit ENB_pwm = P2^7; //PWM信號(hào)端
sbit L298N_INA = P1^0;
sbit L298N_INB = P1^1;
sbit L298N_INC = P1^2;
sbit L298N_IND = P1^3;
sbit Trlg1 = P2^0;
sbit Echo1 = P2^1;
unsigned char pwm_val_left =0; //變量定義
unsigned char pwm_val_right =0;
unsigned char push_val_left =0;// 左電機(jī)占空比N/10
unsigned char push_val_right=0;// 右電機(jī)占空比N/10
unsigned int time = 0; //傳輸時(shí)間
unsigned long S = 0; //距離
bit flag = 0; //超出測(cè)量范圍標(biāo)志位
void delay(uint z) //毫秒級(jí)延時(shí)
{
uint x,y;
for(x = z; x > 0; x--)
{
for(y = 114; y > 0 ; y--);
}
}
void Delay10us_CSB(uchar i) //10us延時(shí)函數(shù) 超聲波模塊使用
{
uchar j;
do
{
j = 10;
do
{
_nop_();
_nop_();
}
while(--j);
}
while(--i);
}
void Go_forward()
{
push_val_left=4;
push_val_right=4;
L298N_INA = 0;
L298N_INB = 1;
L298N_INC = 1;
L298N_IND = 0;
}
void Go_back()
{
push_val_left=4;
push_val_right=4;
L298N_INA = 1;
L298N_INB = 0;
L298N_INC = 0;
L298N_IND = 1;
}
void Go_left()
{
push_val_left=3;
push_val_right=3;
L298N_INA = 0;
L298N_INB = 1;
L298N_INC = 1;
L298N_IND = 1;
}
/*
void Go_right()
{
push_val_left=3;
push_val_right=3;
L298N_INA = 1;
L298N_INB = 0;
L298N_INC = 0;
L298N_IND = 0;
}
*/
void Stop()
{
L298N_INA = 0;
L298N_INB = 0;
L298N_INC = 0;
L298N_IND = 0;
}
void pwm_out_left_moto(void)
{
if(pwm_val_left<=push_val_left)
ENA_pwm=1;
else
ENA_pwm=0;
if(pwm_val_left==10) // 0~10 , 0最小，10最大
pwm_val_left=0;
}
void pwm_out_right_moto(void)
{
if(pwm_val_right<=push_val_right)
ENB_pwm=1;
else
ENB_pwm=0;
if(pwm_val_right==10) // 0~10 , 0最小，10最大
pwm_val_right=0;
}
/*定時(shí)器1中斷輸出PWM信號(hào)*/
void timer1() interrupt 3
{
TH1=(65536-10)/256;
TL1=(65536-10)%256;
pwm_val_left++;
pwm_val_right++;
pwm_out_left_moto();
pwm_out_right_moto();
}
void timer0() interrupt 1 //T0中斷用來(lái)計(jì)數(shù)器溢出,超過(guò)測(cè)距范圍
{
flag=1; //中斷溢出標(biāo)志
}
void CSB_module()
{
Trlg1=1;
Delay10us_CSB(10);
Trlg1=0;
}
/*計(jì)算超聲波所測(cè)距離并顯示*/
void Conut()
{
time=TH0*256+TL0;
TH0=0;
TL0=0;
S=(float)(time*1.085)*0.17; //算出來(lái)是MM
if((S>=7000)||flag==1) //超出測(cè)量范圍
{
flag=0;
}
}
void bizhang()
{
if(S > 100)//設(shè)置避障距離（單位毫米）
{
Go_forward();
}
else
{
Stop();
delay(20);
Go_back();
delay(30);
Go_left();
}
}
void main()
{
Stop();
delay(1000);//延時(shí)1秒
TMOD |= 0x20;//定時(shí)器1工作模式2,8位自動(dòng)重裝。用于產(chǎn)生PWM
TMOD |= 0x01;//定時(shí)器0工作模塊1,16位定時(shí)模式。T0用測(cè)ECH0脈沖長(zhǎng)度
TH1 = 220; //
TL1 = 220; //100HZ T1
TH0 = 0;
TL0 = 0;//T0,16位定時(shí)計(jì)數(shù)用于記錄ECHO高電平時(shí)間
ET1 = 1;//允許T1中斷
ET0 = 1;//允許T0中斷
TR1 = 1;//啟動(dòng)定時(shí)器1
EA = 1;//啟動(dòng)總中斷
while(1)
{
CSB_module(); //啟動(dòng)超聲波測(cè)距
while(!Echo1); //當(dāng)（ECHO信號(hào)回響）為零時(shí)等待
TR0=1; //開(kāi)啟計(jì)數(shù)
while(Echo1);
TR0=0; //關(guān)閉計(jì)數(shù)
Conut(); //計(jì)算距離
bizhang(); //避障
delay(30);
}
}

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