智能小车各独立模块 红外遥控 电机驱动 超声波 红外寻迹

相信进来的都是想学习和制作智能小车的，最近也在学习智能小车，我们的小车功能时红外遥控小车，小车避障，小车寻迹。

现在将学习过程中所发现的一些比较好的代码与大家分享，希望能对大家有所帮助。

红外遥控#include <stc15.h>#include <gpio.h>#include <intrins.h>#define uchar unsigned char#define uint unsigned intsbit IRIN = P3^2; //红外线一体化接收头接收端sbit out1=P2^1;sbit out2=P2^2;sbit out3=P2^3;sbit out4=P2^4;sbit out5=P2^5;sbit out6=P2^6;sbit out7=P2^7;sbit out8=P2^0;uchar IRTemp; //红外线按键数据存放变量uchar IRCOM[7]={0};//存放红外解码后的32位数据void Delay_140us(uchar t) //延时140us{uchar i,j;for(j=0; j<t; j++){for (i=0; i<27; i++){_nop_();}}}void Delay_1ms(uint t) //延时1ms{uint i,j;for(i=0;i<t;i++){for(j=0;j<=100;j++){_nop_();}}}void OutsideInit(void) //设置外部中断初始化{EX0 = 1; //开外部中断0IT0 = 1; //负边沿触发EA = 1; //开总中断}void IRReceive(void) interrupt 0 using 2 //设置中断接收红外编码{uchar i, j, count = 0;EX0 = 0; //关闭外部中断1Delay_140us(20);if(IRIN == 1) //确认红外线信号出现{EX0 = 1;return;}while(!IRIN) //等IR变为高电平，跳过9ms的前导低电平信号。

{Delay_140us(1);}while(IRIN) //等IR变为低电平，跳过4.5ms的前导高电平信号。

{Delay_140us(1);}for (i=0;i<4;i++) //收集四组数据{for(j=0;j<8;j++) //每组数据有8位{while (!IRIN) //等IR 变为高电平{Delay_140us(1);}while(IRIN) //计算IR高电平时长{Delay_140us(1);count++;if(count >= 30) //计数过长自动离开。

{EX0=1;return;}}IRCOM[i] = IRCOM[i] >> 1; //数据右移一位，最高位补"0"if(count >=6 ){IRCOM[i] = IRCOM[i] | 0x80; //数据最高位或上"1"}count = 0;}}if(IRCOM[2]!=~IRCOM[3]) //不相等，则红外遥控解码错误{EX0=1;return;}EX0 = 1;}void Main(void){IRIN = 1; //接收端口初始化OutsideInit(); //初始化外部中断while (1){if (IRCOM[2]==0x0c) //按1out1=0;else out1=1;if (IRCOM[2]==0x18) //按2out2=0;else out2=1;if (IRCOM[2]==0x5e) //按3out3=0;else out3=1;if (IRCOM[2]==0x08) //按4out4=0;else out4=1;if (IRCOM[2]==0x1c) //按5out5=0;else out5=1;if (IRCOM[2]==0x5a) //按6out6=0;else out6=1;if (IRCOM[2]==0x42) //按7out7=0;else out7=1;if (IRCOM[2]==0x52) //按8out8=0;else out8=1;}}电机驱动#include <stc15.h>#include <intrins.h>#include <gpio.h>#include <595hc.h>#define unsigned char#define unsigned intuchar pwm=20;uchar pwmh=1;uchar conter=0;uchar m=1;bit sw=1;bit lr=0;sbit ksw=P1^0;sbit klr=P1^1;sbit kspu=P1^2;sbit kspd=P1^3;sbit m1=P1^4;sbit m2=P1^5;void Delay1ms() //@11.0592MHz {unsigned char i, j;_nop_();_nop_();_nop_();i = 11;j = 190;do{while (--j);} while (--i);}//tms延时void Delayxms (uint t){uchar i;for(i-0;i<t;i++){Delay1ms();}}void Time0_inti(void){TMOD=0X02;TH0=56;TL0=56;ET0=1;EA=1;TR0=1;}void Timer0_int()interrupt1 using 1 {counter++;if(counter>pwmh){m=0;}if (counter=pwmh){counter=0;m1=1;}}void main (){gpio();Time0_int();while (1){if(ksw==0){Delayxms(10);if (ksw==0){sw=~sw;}while (ksw==0)display();}if(klr==0){Delayxms(10);if (klr==0){lr=~lr;}while (klr==0)display();}if(kspu==0){Delayxms(10);if (kspu==0){pwmh++;if(pwmh==pwm){pwmh=pwm-1;}}while (kspu==0)display();}if (kspd==0){Delayxms(10);if (kspd==0){pwmh--;if (pwmh==0){pwmh=1;}}while (kspd==0)display(); }if (sw==0){m1=0;m2=0;Dis_buf[0]=13;Dis_buf[1]=13;Dis_buf[2]=13;Dis_buf[3]=13;Dis_buf[4]=13;Dis_buf[5]=13;Dis_buf[6]=13;Dis_buf[7]=13;}if(sw==1){Dis_buf[0]=pwm%10;Dis_buf[1]=pwm/10;Dis_buf[2]=12;Dis_buf[3]=pwmh%10;Dis_buf[4]=pwm/10;Dis_buf[5]=12;Dis_buf[6]=12;if (lr==0){m1=0;m2=m;Dis_buf[7]=10;}if (lr==1){m1=m;m2=0;Dis_buf[7]=11;}}display();}}超声波避障#include <stc15.h>#include <intrins.h>#include <gpio.h>#define uchar unsigned char#define uint unsigned intsbit tri=P2^0;sbit rea=P2^1;sbit bell=P2^7;uchar count;bit bell_flag;void Delay12us() //@11.0592MHz {unsigned char i;_nop_();_nop_();_nop_();i = 30;while (--i);}//tms延时void Delayxms (uint t){uint i;for(i-0;i<t;i++)}void init(){tri=0;TMOD=0X10;TR1=0;TH1=0;TL1=0;}uint test_distance(){uint date;tri=1;Delay12us();tri=0;while (!rea)TR1=0;date=(uint)(TH1*256+TL1)/10*18;TH1=0;TL1=0;if (date<2000)bell_flag=0;elsebell_flag=1;return date;}void main (){uint distance;gpio();init();while (1){distance=test_distance();dis_duf[0]=distance%10;dis_duf[1]=distance/10%10;dis_duf[2]=distance/100%10+17;dis_duf[3]=distance/1000%10;dis_duf[4]=distance/10000%10;display();if(bell_flag)bell~bell;elsebell=1;Delayxms(30);}}红外寻迹#include <REGX52.H> //包含51单片机相关的头文件sbit LeftLed=P2^0; //定义前方左侧指示灯端口sbit RightLed=P0^7; //定义前方右侧指示灯端口sbit FontLled=P1^0;sbit LeftIR=P3^5; //定义前方左侧红外探头端口sbit RightIR=P3^6; //定义前方右侧红外探头端口sbit FontIR=P3^7; //定义前方正前方红外探头端口sbit M1A=P0^0; //定义左侧电机驱动A端sbit M1B=P0^1; //定义左侧电机驱动B端sbit M2A=P0^2; //定义右侧电机驱动A端sbit M2B=P0^3; //定义右侧电机驱动B端sbit B1=P0^4; //定义语音识识别传感器端口sbit SB1=P0^6; //定义蜂鸣器端口void tingzhi(){M1A=0; //将M1电机A端初始化为0 M1B=0; //将M1电机B端初始化为0 M2A=0; //将M2电机A端初始化为0 M2B=0;}void qianjin(){M1A=1;M1B=0;M2A=1;M2B=0;}void houtui(){M1A=0;M1B=1;M2A=0;M2B=1;}void zuozhuan(){M1A=0;M1B=1;M2A=1;M2B=0;}void youzhuan(){M1A=1;M1B=0;M2A=0;M2B=1;}void delay_nus(unsigned int i) //延时:i>=12 ,i的最小延时单12 us{i=i/10;while(--i);}void delay_nms(unsigned int n) //延时n ms{n=n+1;while(--n)delay_nus(900); //延时1ms,同时进行补偿}void ControlCar(unsigned char ConType) //定义电机控制子程序{tingzhi();switch(ConType) //判断用户设定电机形式{case 1: //前进//判断用户是否选择形式1 {qianjin();break;}case 2: //后退//判断用户是否选择形式2 {houtui(); //M2电机反转break;}case 3: //左转//判断用户是否选择形式3 {zuozhuan(); //M2电机正转break;}case 4: //右转//判断用户是否选择形式4 {youzhuan(); //M1电机正转//M2电机反转break;}case 8: //停止//判断用户是否选择形式8{tingzhi();break; //退出当前选择}}}void main() //主程序入口{bit RunFlag=0; //定义小车运行标志位//RunShow=0; //初始化显示状态ControlCar(8); //初始化小车运行状态while(1) //程序主循环{Start:LeftLed=LeftIR; //前方左侧指示灯指示出前方左侧红外探头状态RightLed=RightIR; //前方右侧指示灯指示出前方右侧红外探头状态FontLled= FontIR;SB1=LeftIR;if(LeftIR == 0 && RightIR == 0) //三个红外检测到黑线，就前进{ControlCar(1); //左侧没有信号时，开始向右转一定的角度delay_nms (10);goto NextRun;}if(LeftIR == 0 && RightIR == 1){ControlCar(3); //右侧没有信号时,开始向左转一定的角度delay_nms (10);goto NextRun;}if(LeftIR == 1 && RightIR == 0){ControlCar(4); //右侧没有信号时,开始向左转一定的角度delay_nms (10);goto NextRun;}goto Start;NextRun:ControlCar(8);}}//备注:此例程仅为参考程序，请根据自己的道路进行最优化调整。