直流电机调速,智能小车避障51单片机程序

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

智能小车电机驱动程序

P3.3口控制电机正转，P3.4口控制电机反转 即智能小车前进后退

（可加光电传感器智能避障）

P3.5 电机2停 ，P3.6 电机1停 即智能小车左右转

（可加红外线传感器自动控制）

2013.7.13 郭小亚 扣扣756757420

可拆分为两个程序（智能小车避障+直流电机调速）

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#include <reg52.h>

#define uchar unsigned char

#define uint unsigned int

sbit KEY1 = P3^2; //调速按钮，即智能小车跳档

sbit PWM1 = P1^1; //接两台电机驱动模块

sbit PWM2 = P1^2;

sbit PWM3 = P1^3;

sbit PWM4 = P1^4;

sbit KEY2 = P3^3; //前进

sbit KEY3 = P3^4; //后退

sbit RIGHT=P3^5;

sbit LEFT =P3^6;

uchar CYCLE;

uchar PWM_OFF ;

uchar PWM_ON ;

void delay(uint i)

{

uint x,j;

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

for(x=0;x<=148;x++);

}

void Time0init(void) //定时器初始值设置

{

TMOD=0x01;

TH0=(65536-1000*12)/256;

TL0=(65536-1000*12)%256;

EA=1;

ET0=1;

TR0=1;

PWM_OFF=7;

}

void main()

{

uchar PWM_Num;

PWM_Num=0;

P0=0xC0; //P0口接数码管显示档位或速度

Time0init();

CYCLE = 10;

PWM1 = 0;

PWM2 = 0;

PWM3 = 0;

PWM4 = 0;

while(1)

{

if(!KEY1) //加减调速， 摁一次加一次速度

{

delay(10); //消除抖动 ，10秒延时

if(!KEY1)

{

if(PWM_Num==8) //循环档设置，当速度加至8档又返回最低速度 {

PWM_Num=0;

}

switch(PWM_Num) //档位数码管显示返回，速度选择至定时器程序 {

case 0:P0=0xF9; PWM_OFF=7;break;

case 1:P0=0xA4; PWM_OFF=6;break;

case 2:P0=0xB0; PWM_OFF=5;break;

case 3:P0=0x99; PWM_OFF=4;break;

case 4:P0=0x92; PWM_OFF=3;break;

case 5:P0=0x82; PWM_OFF=2;break;

case 6:P0=0xF8; PWM_OFF=1;break;

case 7:P0=0x80; PWM_OFF=0;break;

default:break;

}

PWM_Num++;

delay(500);

}

}

}

}

void tim(void) interrupt 1 using 1 //定时中断 {

static unsigned char count;

// count=0;

TH0=(65536-1000*12)/256;

TL0=(65536-1000*12)%256;

if(KEY3==0)

{

if(count==PWM_OFF)

{

PWM1 = 1;

PWM2 = 0;

PWM3 = 1;

PWM4 = 0;

}

count++;

if(count == CYCLE)

{

count=0;

if(PWM_OFF!=0) {

PWM1 = 0;

PWM2 = 0;

PWM3 = 0;

PWM4 = 0;

}

}

if(RIGHT==0) //右转 {

PWM1=1;

PWM2=0;

PWM3=0;

PWM4=0;

}

if(LEFT==0) //左转 {

PWM1 = 0;

PWM2 = 0;

PWM3 = 1;

PWM4 = 0;

}

}

if(KEY2==0)

{

if(count==PWM_OFF) {

PWM1 = 0;

PWM2 = 1;

PWM3 = 0;

PWM4 = 1; }

count++;

if(count == CYCLE) {

count=0;

if(PWM_OFF!=0) {

PWM1 = 0; PWM2 = 0;

PWM3 = 0;

PWM4 = 0;

}

}

if(RIGHT==0) {

PWM1=0;

PWM2=1;

PWM3=0;

PWM4=0;

}

if(LEFT==0)

{

PWM1 = 0;

PWM2 = 0; PWM3 = 0;

PWM4 = 1;

}

}

} if(KEY2&&KEY3==1) { PWM1=0; PWM2=0; PWM3=0; PWM4=0; }