51单片机智能小车寻循迹代码

小车可以实现循迹（可以过直角，弯路，前进后退等情况以及PWNM调速等）

如想了解接线的请私聊作者

由于小车的情况比较复杂要考虑的东西很多，有时候接线不合适都跑不起来

如果遇到问题请私聊作者

话不多说直接上代码吧：

//以下为代码段
#include"reg51.h"
#include "intrins.h"
typedef  unsigned int  u16;
typedef  unsigned char u8;sbit HIN1=P1^4;//  P1.0Êä³öpwm
sbit HIN2=P3^0;//  P1.1Êä³öpwm
sbit HIN3=P1^6;//  P1.2Êä³öpwm
sbit HIN4=P1^7;//  P1.3Êä³öpwmsbit QIN1=P1^0;//  P1.4Êä³öpwm
sbit QIN2=P1^1;//  P1.5Êä³öpwm
sbit QIN3=P1^2;//  P1.6Êä³öpwm
sbit QIN4=P1^3;//  P1.7Êä³öpwmsbit IRIN=P3^2;  // ºìÍâ¿ÚÎª3.2 ÖÐ¶Ï0sbit k1=P2^0;    //Ñ°¼£Ä£¿ék1Î»
sbit k2=P2^1;    //Ñ°¼£Ä£¿ék2Î»
sbit k3=P2^2;    //Ñ°¼£Ä£¿ék3Î»
sbit k4=P2^4;    //Ñ°¼£Ä£¿ék4Î»
sbit k5=P2^5;    //Ñ°¼£Ä£¿ék5Î»u8 time,i;
u16 count,count2,count3,count4;  //pwmÕ¼¿Õ±È£¨ËÙ¶È´óÐ¡£©
//u8 z=0, x=0;/********»ù±¾ÑÓÊ±º¯Êý*******/
void delay(int u)
{while(u--);
}void minrun()
{count=30;count2=30;count3=0;count4=0;
}void run()
{count=35;count2=35;count3=0;count4=0;
}void right()
{count=0;//ÓÒ×ªcount2=40;//zouÕý´«count3=60;//you·´count4=0;}void Lefet()
{count=30;count2=0;count3=0;count4=50;
}void back()
{count=0;count2=0;count3=50;count4=50;
}void stop()
{count=0;count2=0;count3=0;count4=0;}void Lefet1()
{count=60;count2=0;count3=0;count4=40;
}void lefet_1()
{count=60;//count2=0;count3=0;count4=40;}void right_1()
{count=0;count2=60;count3=40;count4=0;}void lefet_2()
{count=65;count2=0;count3=0;count4=40;
}
void right_2()
{count=0;count2=40;count3=60;count4=0;} void xunji()
{u8 m;if(k1==1&&k2==1&&k4==1&&k4==1&&k5==1)//Ã»ÓÐ¼ì²âµ½ºÚÏß{m=0;}if(k1==1&&k2==1&&k3==0&&k4==1&&k5==1)//ÖÐ¼ä¼ì²âµ½ºÚÏß{m=1;}if(k1==1&&k2==0&&k3==1&&k4==1&&k5==1)//Î¢µ÷  ×ó{m=2;}if(k1==1&&k2==1&&k3==1&&k4==0&&k5==1)//Î¢µ÷  ÓÒ{m=3;}if(k1==0&&k2==1&&k3==1&&k4==1&&k5==1)//{m=4;}if(k1==1&&k2==1&&k3==1&&k4==1&&k5==0)//´ó·ùÓÒ×ª{m=5;}if(k1==0&&k3==0&&k4==1&&k5==1)//Ö±½Ç  ×ó{m=6;}if(k1==1&&k2==1&&k3==0&&k5==0)//Ö±½Ç  ÓÒ{m=7;}/*if(k1==0&&k2==0&&k3==1&&k4==1&&k5==1){m=8;}if(k1==1&&k2==1&&k3==1&&k4==0&&k5==0){m=9;}if(k1==1&&k2==1&&k3==1&&k4==1&&k5==0){m=10;}*/switch(m){//case (0):lefet_2();break;case (1):run();break;case (2):Lefet();delay(200);break;//Î¢µ÷  case (3):right();delay(200);break;//Î¢µ÷//case (4):Lefet1();delay(900);break;//´ó·ù×ó×ª//case (5):right();delay(900);break;//´ó·ù¶ÈÓÒ×ªcase (6):lefet_1();delay(900);break;//Ö±½Ç  ×ó×ªcase (7):right_1();delay(900);break;//Ö±½Ç  ÓÒ×ª//case (8):lefet_2();delay(200);break;//case (9):right_2();delay(200);break;//case (10):right_2();delay(900);break;//default :run();delay(500);stop();break;}
}/*******************
* ¹¦ÄÜ£º´ò¿ªÐèÒªÓÃµ½µÄÖÐ¶Ï
* ÓÃµ½µÄÖÐ¶Ï£º¶¨Ê±Æ÷0¡¢1 ¹¤×÷·½Ê½1 16Î»¶¨Ê±Æ÷Ä£Ê½
* Íâ²¿ÖÕ¶Ë0
*********************/
void timer()
{TMOD=0x11;//¶¨Ê±Æ÷0¹¤×÷·½Ê½1TH0=0xff;//(65536-10)/256;//¸³³õÖµ¶¨Ê±TL0=0xf7;//(65536-10)%256;//0.01msTH1=0;TL1=0;EA=1;//¿ª×ÜÖÐ¶ÏET0=1;//¿ª¶¨Ê±Æ÷0ÖÐ¶ÏET1=1;TR0=1;//Æô¶¯¶¨Ê±Æ÷0 IT0=1;EX0=1;IRIN=1;
}/*******Ö÷º¯Êý********/
void main()
{       timer();   //µ÷ÓÃÖÐ¶Ï´ò¿ªº¯Êýwhile(1){  xunji();//back();//run();//Lefet();//right();// delay(3000);        //xunji();}
}/****¶¨Ê±Æ÷0Òç³öÀûÓÃpwmµ÷4¸öµç»úµÄËÙ¶È***/
void tim0() interrupt 1
{//TR0=0;//¸³³õÖµÊ±£¬¹Ø±Õ¶¨Ê±Æ÷TH0=0xff;//(65536-10)/256;//¸³³õÖµ¶¨Ê±TL0=0xf7;//(65536-10)%256;//0.01ms£¬ÒòÎªÒ»¸öÖÜÆÚ1us//TR0=1;//´ò¿ª¶¨Ê±Æ÷i++;if(i>=100)  //1khzi=0;if(i<=count)   //Õ¼¿Õ±È%30,¿É¸Ä{QIN2=0; HIN4=0;}  else{QIN2=1;   HIN4=1;}if(i<=count2)   //Õ¼¿Õ±È%30,¿É¸Ä{QIN4=0; HIN2=0; }  else { QIN4=1;HIN2=1;}if(i<=count3)   //Õ¼¿Õ±È%30,¿É¸Ä{   QIN1=0; HIN3=0;}  else {QIN1=1;   HIN3=1;}if(i<=count4)   //Õ¼¿Õ±È%30,¿É¸Ä{QIN3=0; HIN1=0; }  else { QIN3=1;HIN1=1;} }

注释出现乱码了，然后下面我在以文本的形式编一下:

#include"reg51.h"
#include "intrins.h"
typedef unsigned int u16;
typedef unsigned char u8;

sbit HIN1=P1^4;// P1.0Êä³öpwm
sbit HIN2=P3^0;// P1.1Êä³öpwm
sbit HIN3=P1^6;// P1.2Êä³öpwm
sbit HIN4=P1^7;// P1.3Êä³öpwm

sbit QIN1=P1^0;// P1.4Êä³öpwm
sbit QIN2=P1^1;// P1.5Êä³öpwm
sbit QIN3=P1^2;// P1.6Êä³öpwm
sbit QIN4=P1^3;// P1.7Êä³öpwm

sbit IRIN=P3^2; // ºìÍâ¿ÚÎª3.2 ÖÐ¶Ï0

sbit k1=P2^0; //Ñ°¼£Ä£¿ék1Î»
sbit k2=P2^1; //Ñ°¼£Ä£¿ék2Î»
sbit k3=P2^2; //Ñ°¼£Ä£¿ék3Î»
sbit k4=P2^4; //Ñ°¼£Ä£¿ék4Î»
sbit k5=P2^5; //Ñ°¼£Ä£¿ék5Î»

u8 time,i;
u16 count,count2,count3,count4; //pwmÕ¼¿Õ±È£¨ËÙ¶È´óÐ¡£©
//u8 z=0, x=0;

/********»ù±¾ÑÓÊ±º¯Êý*******/
void delay(int u)
{
while(u--);
}

void minrun()
{
       count=30;
   count2=30;
   count3=0;
   count4=0;
}

void run()
{
count=35;
count2=35;
count3=0;
count4=0;
}

void right()
{
count=0;//ÓÒ×ª
   count2=40;//zouÕý´«
   count3=60;//you·´
   count4=0;

}

void Lefet()
{
count=30;
   count2=0;
   count3=0;
   count4=50;
}

void back()
{
count=0;
count2=0;
count3=50;
count4=50;
}

void stop()
{
count=0;
   count2=0;
   count3=0;
   count4=0;

}

void Lefet1()
{
count=60;
   count2=0;
   count3=0;
   count4=40;
}

void lefet_1()
{
count=60;//
   count2=0;
   count3=0;
   count4=40;

}

void right_1()
{
count=0;
   count2=60;
   count3=40;
   count4=0;

}

void lefet_2()
{
count=65;
   count2=0;
   count3=0;
   count4=40;
}
void right_2()
{
count=0;
   count2=40;
   count3=60;
   count4=0;

}

void xunji()
{
   u8 m;
   if(k1==1&&k2==1&&k4==1&&k4==1&&k5==1)//Ã»ÓÐ¼ì²âµ½ºÚÏß
   {m=0;}

   if(k1==1&&k2==1&&k3==0&&k4==1&&k5==1)//ÖÐ¼ä¼ì²âµ½ºÚÏß
   {m=1;}

   if(k1==1&&k2==0&&k3==1&&k4==1&&k5==1)//Î¢µ÷ ×ó
   {m=2;}
   if(k1==1&&k2==1&&k3==1&&k4==0&&k5==1)//Î¢µ÷ ÓÒ
   {m=3;}

   if(k1==0&&k2==1&&k3==1&&k4==1&&k5==1)//
   {m=4;}
   if(k1==1&&k2==1&&k3==1&&k4==1&&k5==0)//´ó·ùÓÒ×ª
   {m=5;}

   if(k1==0&&k3==0&&k4==1&&k5==1)//Ö±½Ç ×ó
   {m=6;}
   if(k1==1&&k2==1&&k3==0&&k5==0)//Ö±½Ç ÓÒ
   {m=7;}



   /*
   if(k1==0&&k2==0&&k3==1&&k4==1&&k5==1)
   {m=8;}
   if(k1==1&&k2==1&&k3==1&&k4==0&&k5==0)
   {m=9;}
   if(k1==1&&k2==1&&k3==1&&k4==1&&k5==0)
   {m=10;}
   */




switch(m)
   {
       //case (0):lefet_2();break;
       case (1):run();break;
       case (2):Lefet();delay(200);break;//Î¢µ÷
       case (3):right();delay(200);break;//Î¢µ÷

       //case (4):Lefet1();delay(900);break;//´ó·ù×ó×ª
       //case (5):right();delay(900);break;//´ó·ù¶ÈÓÒ×ª

       case (6):lefet_1();delay(900);break;//Ö±½Ç ×ó×ª
       case (7):right_1();delay(900);break;//Ö±½Ç ÓÒ×ª

       //case (8):lefet_2();delay(200);break;
       //case (9):right_2();delay(200);break;
       //case (10):right_2();delay(900);break;


       //default :run();delay(500);stop();break;
   }
}

/*******************
* ¹¦ÄÜ£º´ò¿ªÐèÒªÓÃµ½µÄÖÐ¶Ï
* ÓÃµ½µÄÖÐ¶Ï£º¶¨Ê±Æ÷0¡¢1 ¹¤×÷·½Ê½1 16Î»¶¨Ê±Æ÷Ä£Ê½
* Íâ²¿ÖÕ¶Ë0
*********************/
void timer()
{
    TMOD=0x11;//¶¨Ê±Æ÷0¹¤×÷·½Ê½1
   TH0=0xff;//(65536-10)/256;//¸³³õÖµ¶¨Ê±
   TL0=0xf7;//(65536-10)%256;//0.01ms
   TH1=0;
   TL1=0;
   EA=1;//¿ª×ÜÖÐ¶Ï
   ET0=1;//¿ª¶¨Ê±Æ÷0ÖÐ¶Ï
   ET1=1;
   TR0=1;//Æô¶¯¶¨Ê±Æ÷0
   IT0=1;
EX0=1;
IRIN=1;
}

/*******Ö÷º¯Êý********/
void main()
{
timer(); //µ÷ÓÃÖÐ¶Ï´ò¿ªº¯Êý

while(1)
   {

       xunji();



       //back();
//run();
       //Lefet();
       //right();
// delay(3000);
       //xunji();
   }
}

/****¶¨Ê±Æ÷0Òç³öÀûÓÃpwmµ÷4¸öµç»úµÄËÙ¶È***/
void tim0() interrupt 1
{
   //TR0=0;//¸³³õÖµÊ±£¬¹Ø±Õ¶¨Ê±Æ÷
   TH0=0xff;//(65536-10)/256;//¸³³õÖµ¶¨Ê±
   TL0=0xf7;//(65536-10)%256;//0.01ms£¬ÒòÎªÒ»¸öÖÜÆÚ1us
   //TR0=1;//´ò¿ª¶¨Ê±Æ÷
   i++;
   if(i>=100) //1khz
       i=0;

   if(i<=count) //Õ¼¿Õ±È%30,¿É¸Ä
   {
       QIN2=0;
       HIN4=0;
   }
   else
   {
       QIN2=1;
       HIN4=1;
   }

if(i<=count2) //Õ¼¿Õ±È%30,¿É¸Ä
   {
       QIN4=0;
       HIN2=0;
   }
   else
   {
   QIN4=1;
   HIN2=1;
   }

if(i<=count3) //Õ¼¿Õ±È%30,¿É¸Ä
   {
           QIN1=0;
   HIN3=0;
   }
   else
   {
   QIN1=1;
   HIN3=1;
   }

   if(i<=count4) //Õ¼¿Õ±È%30,¿É¸Ä
   {
   QIN3=0;
   HIN1=0;
   }
   else
   {
   QIN3=1;
   HIN1=1;
   }

}

有问题请私聊博主哦