51单片机5路超声波避障C程序

/****************************************************************************** *****************************///5路超声波避障实验：51单片机+ HC-SR04超声波///****************************************************************************** *****************************/#include <AT89x52.H> //器件配置文件#include <intrins.h>#define RX1 P3_6 //小车左侧超声波HC-SR04接收端#define TX1 P1_7 //发送端#define RX2 P3_3 //左前方超声波#define TX2 P0_2#define RX3 P2_4 //正前方超声波#define TX3 P2_5#define RX4 P3_5 //右前方超声波#define TX4 P3_4#define RX5 P3_7 //右侧超声波#define TX5 P1_6#define Left_moto_pwm P1_5 //PWM信号端#define Right_moto_pwm P1_4 //PWM信号端//定义小车驱动模块输入IO口sbit IN1=P1^0;sbit IN2=P1^1;sbit IN3=P1^2;sbit IN4=P1^3;sbit EN1=P1^4;sbit EN2=P1^5;bit Right_moto_stop=1;bit Left_moto_stop =1;#define Left_moto_go {IN1=0,IN2=1,EN1=1;} //左电机向前走#define Left_moto_back {IN1=1,IN2=0,EN1=1;} //左边电机向后走#define Left_moto_Stop {EN1=0;} //左边电机停转#define Right_moto_go {IN3=1,IN4=0,EN2=1;} //右边电机向前走#define Right_moto_back {IN3=0,IN4=1,EN2=1;} //右边电机向后走#define Right_moto_Stop {EN2=0;} //右边电机停转unsigned char pwm_val_left =0;//变量定义unsigned char push_val_left =0;// 左电机占空比N/20unsigned char pwm_val_right =0;unsigned char push_val_right=0;// 右电机占空比N/20unsigned int time=0;unsigned int timer=0;unsigned long S1=0;unsigned long S2=0;unsigned long S3=0;unsigned long S4=0;unsigned long S5=0;void delay_1ms(unsigned char x) //1ms延时函数,100ms以内可用{unsigned char i;while(x--)for(i=124;i>0;i--);}/********************************************************/void Count1() //计算左侧超声波距离的函数{while(!RX1); //当RX1为零时等待TR0=1; //开启计数while(RX1); //当RX1为1计数并等待TR0=0; //关闭计数time=TH0*256+TL0;TH0=0;TL0=0;S1=(time*1.7)/100; //算出来是CM}void Count2() //计算函数{while(!RX2); //当RX2为零时等待TR0=1; //开启计数while(RX2); //当RX2为1计数并等待TR0=0; //关闭计数time=TH0*256+TL0;TH0=0;TL0=0;S2=(time*1.7)/100; //算出来是CM}void Count3() //计算函数{while(!RX3); //当RX3为零时等待TR0=1; //开启计数while(RX3); //当RX3为1计数并等待TR0=0; //关闭计数time=TH0*256+TL0;TH0=0;TL0=0;S3=(time*1.7)/100; //算出来是CM}void Count4() //计算函数{while(!RX4); //当RX4为零时等待TR0=1; //开启计数while(RX4); //当RX4为1计数并等待TR0=0; //关闭计数time=TH0*256+TL0;TH0=0;TL0=0;S4=(time*1.7)/100; //算出来是CM}void Count5() //计算函数{while(!RX5); //当RX5为零时等待TR0=1; //开启计数while(RX5); //当RX5为1计数并等待TR0=0; //关闭计数time=TH0*256+TL0;TH0=0;TL0=0;S5=(time*1.7)/100; //算出来是CM/************************************************************************/ //前进void run(void){push_val_left=8; //左电机调速，速度调节变量0-20。

0最小，20最大，四驱大轮>6push_val_right=8; //右电机调速Left_moto_go ; //左电机往前走Right_moto_go ; //右电机往前走}/************************************************************************/ //后退void backrun(void){push_val_left=20;push_val_right=20;Left_moto_back ; //左电机往前走Right_moto_back ; //右电机往前走}/************************************************************************/ //左转void leftrun(void){push_val_left=20;push_val_right=20;Left_moto_back ; //左电机往后走Right_moto_go ; //右电机往前走}/************************************************************************/ //右转void rightrun(void){push_val_left=20;push_val_right=20;Left_moto_go ; //左电机往前走Right_moto_back ; //右电机往后走}/************************************************************************/ //停止void stoprun(void)Left_moto_Stop ; //左电机停Right_moto_Stop ; //右电机停}/************************************************************************/ /* PWM调制电机转速*/ /************************************************************************//* 左电机调速*/ /*调节push_val_left的值改变电机转速,占空比*/void pwm_out_left_moto(void){if(Left_moto_stop){if(pwm_val_left<=push_val_left){Left_moto_pwm=1;}else{Left_moto_pwm=0;}if(pwm_val_left>=20)pwm_val_left=0;}else{Left_moto_pwm=0;}}/******************************************************************//* 右电机调速*/ void pwm_out_right_moto(void){if(Right_moto_stop){if(pwm_val_right<=push_val_right){Right_moto_pwm=1;}else{Right_moto_pwm=0;}if(pwm_val_right>=20)pwm_val_right=0;}else{Right_moto_pwm=0;}}/********************************************************/ void timer0() interrupt 1 //T0中断{}/***************************************************////*TIMER1中断服务子函数产生PWM信号*/void timer1()interrupt 3{TH1=(65536-1000)/256; //1ms定时TL1=(65536-1000)%256;timer++;pwm_val_left++;pwm_val_right++;pwm_out_left_moto();pwm_out_right_moto();}/********************************************************* **********************************************************/void main(void){TMOD=0x11; //设T0为方式1，GA TE=1；TH0=0;TL0=0;TH1=(65536-1000)/256; //1ms定时TL1=(65536-1000)%256;ET0=1; //允许T0中断ET1=1; //允许T1中断TR1=1; //开启定时器EA=1; //开启总中断while(1){TX1=1; //开启超声波1探测delay_1ms(1);TX1=0;Count1(); //测距TX2=1;delay_1ms(1);TX2=0;Count2();TX3=1;delay_1ms(1);TX3=0;Count3();TX4=1;delay_1ms(1);TX4=0;Count4();TX5=1;delay_1ms(1);TX5=0;Count5();if(S3<20 && S1<20 && S5<20) //进入狭窄通道{backrun(); //倒车delay_1ms(100);}else if(S3<20 && S1<S5 ) //车子与障碍物90度垂直，左边距离小右转{rightrun();}else if(S3<20 && S5<S1 ) //车子与障碍物90度垂直，右边距离小左转{leftrun();}else if(S2<20){rightrun(); //车与障碍物呈45度角时，车的左边比车的右边距离小,右转}else if(S4<20){leftrun(); //车与障碍物呈45度角时，车的右边比车的左边距离小,左转}else{run();}}}。