循迹小车程序代码

#include<reg52.h>#define uchar unsigned char#define uint unsigned intuint a,d,y,z,h,q;sbit out1 = P0^0 ;//电机驱动输出控制管脚配置sbit out2 = P0^1 ;sbit out3 = P0^2 ;sbit out4 = P0^3 ;sbit in1 = P2^0;//循迹模块的信号输入管脚配置sbit in2 = P2^1;sbit in3 = P2^2;sbit in4 = P2^3;sbit in5 = P2^4;delay(uint a);int zuozhuan(uint z)//控制小车做左转动作（参数z和a可以用来调节左转时间，本程序设定//为不同参数表示每次调用程序左转时间相同不可变，没有调节转弯时间的功能）{out1=1;out2=0;out3=0;out4=1;delay(a);}int youzhuan(uint y)//控制小车做右转动作（参数y和a可以用来调节右转时间，本程序设定//为不同参数表示每次调用程序右转时间相同不可变,没有调节转弯时间的功能）{out1=0;out2=1;out3=1;out4=0;}int houtui(uint h)//控制小车可以使小车倒退行驶（参数功能与转弯类似）{out1=0;out2=1;out3=0;out4=1;delay(a);out1=0;out2=0;out3=0;out4=0;delay(20);}int dengdai (uint d) //使小车停止当前所有动作,停止时间可调。

{out1=0;out2=0;out3=0;out4=0;delay(d);}void qianjin(q)//使小车向前行驶，行驶时间可调{out1=1;out2=0;out3=1;out4=0;delay(q);}void xunji(){P1=P1|0XF0; d elay(5);if(in1==0){dengdai();youzhuan(100);while(in3==1);}else if(in5==0){dengdai();zuozhuan(100);while(in3==1);}else if(in2==0){dengdai();youzhuan(30);}else if(in4==0){dengdai();zuozhuan(30);}else if(in3==0) {qianjin(20); }else {qianjin(20);}}int delay(uint a)//延时子函数{uint x,y;for(x=a;x>0;x--)for(y=110;y>0;y--);}void main(){delay(2000);while(1)xunji();}#include<reg52.h>#define uchar unsigned char#define uint unsigned int//D0-D7:f,b,a,e,d,h,c,g 共阴依次编码//74LS04反相器驱动数码管uchar code table[10] = {0x5F,0x42,0x9E,0xD6,0xC3,0xD5,0xDD,0x46,0xDF,0xD7}; uchar i = 0; //用于0-3数码管轮流显示uint j = 0; //计时的次数uint time=0; //计时uint pwm=16; //占空比uint speed; //调制ＰＷＭ波的当前的值sbit R=P3^2; //右边传感器P3^2 sbit L=P3^3; //左边传感器P3^3 //电机驱动口定义sbit ENB=P1^0; //前轮电机停止控制使能sbit ENA=P1^1; //后轮控制调速控制端口sbit IN1=P1^2; //前轮sbit IN2=P1^3; //前轮sbit IN3=P1^4; //后轮sbit IN4=P1^5; //后轮void Init() {TMOD = 0x12; //定时器0用方式2,定时器1用方式1TH0=(256-200)/256; //pwmTL0=(256-200)/256;TH1 = 0x0F8; //定时2msTL1 = 0x30;EA = 1;ET0 = 1;ET1 = 1;TR0 = 1;TR1 = 1;}void tim0(void) interrupt 1 //产生PWM{speed ++;if(speed <= pwm) //pwm 就相当于占100的比例{ENA = 1;}else if(speed < 100){ENA = 0;}elsespeed = 0;}void time1() interrupt 3 //定时2ms{TH1 = 0x0F8;TL1 = 0x30;i =(i+1) % 4; //0-3循环j++;if(i == 0) //显示最低位数码管{P0 = 0x00; //段选清零防止乱码P0 = table[time%10]; //送段码信号}if(i == 1){P0 = 0x00;P0 = table[time/ 10% 10];}if(i == 2){P0 = 0x00;P0 = table[time/ 100% 10];}if(i == 3){P0 = 0x00;P0 = table[time/ 1000% 10];}P2 = ( 0x10 << i ); //送位选信号if(j == 500){time ++;//500次为1秒j = 0;}}void forward() //前进{IN2=1;IN1=0;}void back() //后退{IN2=0;IN1=1;}void left() //左转{ENB=1; //打开使能IN3=1;IN4=0;}void right() //右转{ENB=1; //打开使能IN3=0;IN4=1;}void stop() //停止{IN2=0;IN1=0;IN3=0;IN4=0;}void main(){Init(); //定时器初始化while(1){if(R==0 && L==1) //右传感器检测到黑线{right(); //右转forward();while(R==0 && L==1);}if(R==1 && L==0) //左传感器检测到黑线{left();forward();while(R==1 && L==0);}if(R==0 && L==0) //都检测到黑线则停止{stop();j = 0; //定时器仍在工作，计数时间清空}else //都没有检测到黑线{ENB = 0; //关闭转向控制forward();}}}。

lm393循迹小车代码循迹小车涉及到硬件和代码两部分,下面给出一个基于Arduino的LM393循迹小车代码示例：```c#define IN1 2 //电机驱动IN1-4定义用D2,D3,D4,D5四个数字接口#define IN2 3 //其中D2、D3针对小车左侧电机；D4、D5针对小车右侧电机#define IN3 4#define IN4 5void setup() {pinMode(IN1, OUTPUT);pinMode(IN2, OUTPUT);pinMode(IN3, OUTPUT);pinMode(IN4, OUTPUT);}void loop() {int left = analogRead(A0); //读取左侧红外传感器的模拟值int right = analogRead(A1); //读取右侧红外传感器的模拟值if (left < 500 && right < 500) { //如果两侧均检测到黑线,则小车前进digitalWrite(IN1, HIGH);digitalWrite(IN2, LOW);digitalWrite(IN3, HIGH);digitalWrite(IN4, LOW);} else if (left < 500) { //左侧检测到黑线,则小车左转digitalWrite(IN1, HIGH);digitalWrite(IN2, LOW);digitalWrite(IN3, LOW);digitalWrite(IN4, LOW);} else if (right < 500) { //右侧检测到黑线,则小车右转digitalWrite(IN1, LOW);digitalWrite(IN2, LOW);digitalWrite(IN3, HIGH);digitalWrite(IN4, LOW);} else { //如果两侧均未检测到黑线,则小车停止digitalWrite(IN1, LOW);digitalWrite(IN2, LOW);digitalWrite(IN3, LOW);digitalWrite(IN4, LOW);}}```在此代码中,通过读取左右两侧的红外传感器信号来检测循迹情况,并根据检测结果控制小车的动作：前进、左转、右转、停止。

#include "reg51.h"typedef unsigned int uint;typedef unsigned char uchar;sbit p2_0 = P2^0; //开关sbit p2_1 = P2^1; //红外检测sbit p2_2 = P2^2;sbit p2_3 = P2^3;sbit p1_0 = P1^0; //电机驱动sbit p1_1 = P1^1;sbit p1_2 = P1^2;sbit p1_3 = P1^3;sbit pwm1 = P1^4; //pwm调速sbit pwm2 = P1^5;unsigned char timer1;/******************************************************************** ************ 函数名 : Time1Config* 函数功能 : 设置定时器* 输入 : 无* 输出 : 无********************************************************************* **********/void Time1Config(){TMOD|= 0x10; //设置定时计数器工作方式1为定时器//--定时器赋初始值，12MHZ下定时0.5ms--//TH1 = 0xFE;TL1 = 0x0C;ET1 = 1; //开启定时器1中断EA = 1;TR1 = 1; //开启定时器}/************************************************ 延时函数总共延时1ms乘以count************************************************/ void DelayX1ms(uint count){uint j;while(count--!=0){for(j=0;j<72;j++);}}/************************************************ 电机转动函数定义************************************************/ void ZhiXing( ){p1_0=0;p1_1=0;p1_2=0;p1_3=0;DelayX1ms(10);p1_0=0;p1_1=1;p1_2=0;p1_3=1;DelayX1ms(15);}void ZuoZhuan( ){pwm1=0;pwm2=0;DelayX1ms(10); p1_0=0;p1_1=1;p1_2=1;p1_3=0;DelayX1ms(20); }void YouZhuan( ){pwm1=0;pwm2=0;DelayX1ms(10);p1_0=1;p1_1=0;p1_2=0;p1_3=1;DelayX1ms(20); }void HouTui( ){p1_0=0;p1_1=0;p1_2=0;p1_3=0;DelayX1ms(6); p1_0=1;p1_1=0;p1_2=1;p1_3=0;DelayX1ms(20);}/************************************************ 主函数************************************************/ void main( ){Time1Config();while(1){if( p2_1==0 && p2_2==0 && p2_3==1){YouZhuan( );}else if(p2_1==1 && p2_2==0 && p2_3==0){ZuoZhuan( );}else{ZhiXing( );}}}/******************************************************************** ************ 函数名 : Time1* 函数功能 : 定时器1的中断函数* 输入 : 无* 输出 : 无********************************************************************* **********/void Time1(void) interrupt 3 //3 为定时器1的中断号 1 定时器0的中断号 0 外部中断1 2 外部中断2 4 串口中断{timer1++;if(timer1>100) //PWM周期为100*0.5ms{timer1=0;}if(timer1 < 85) //改变30这个值可以改变直流电机的速度{pwm1=1;pwm2=1;}else{pwm1=0;pwm2=0;}TH1 = 0xFE; //重新赋初值TL1 = 0x0C;}。

#include<STC12C5A60S2.H>#include<intrins.h>#define uint unsigned int#define uchar unsigned char#define zhong0XF7//中间11110111#define zzhong0XE3//中间11100011#define zuo10XEF//从中间向左第一个11101111#define zuo20XDF//从中间向左第一个11011111#define zuo30XBF//从中间向左第一个10111111#define zuo010XE7//从中间向左第1、0个11100111 #define zuo020XD7//从中间向左第二个11010111#define zuo030XB7//从中间向左第二个10110111#define zuo120XCF//从中间向左第1、0个11001111 #define zuo130XAF//从中间向左第1、0个10101111 #define zuo230X9F//从中间向左第1、0个10011111 #define zuo0120XC7//从中间向左第二个11000111#define zuo01230X87//从中间向左第二个10000111#define zuo10120XE1//从中间向左第1、0个11100001 #define zuo101230XE0//从中间向左第1、0个11100000#define zuo2101230XC0//从中间向左第1、0个11000000#define you10XFB//从中间向右第一个11111011#define you20XFD//从中间向右第一个11111101#define you30XFE//从中间向右第一个11111110#define you010XF3//从中间向右第1、0个11110011 #define you020XF5//从中间向右第二个11110101#define you030XF6//从中间向右第二个11110110#define you120XF9//从中间向左第二个11111001#define you130XFA//从中间向左第二个11111010#define you230XFC//从中间向左第二个11111100#define you0120XF1//从中间向右第二个11110001#define you01230XF0//从中间向右第二个11110000 #define you10120XC3//从中间向右第二个11000011 #define you101230X83//从中间向右第二个10000011 #define you2101230X81//从中间向右第二个10000001#define quanbu0X80//全部检测到10000000#define wu0xff//刚开始什么都没检测不走sbit IN3=P0^6;//右轮sbit IN4=P0^5;sbit IN1=P0^4;//电机控制口sbit IN2=P0^3;sbit open=P1^0;//非手动启动sbit duojipwm=P2^7;//舵机控制口sbit LED=P1^5;//灯光指示sbit jiguang=P1^6;//激光uint duoji_num;//char t=34;uchar a,zsu,ysu,flag,t;uint num=0;void duoji_init(void){TMOD=0X11;//定时器的工作方式为0AUXR=0X00;//12分频TL0=(65536-364)%256;//装初值为20msTH0=(65536-364)/256;//TL1=(65536-50000)%256;//TH1=(65536-50000)/256;EA=1;//开总中断ET0=0;//关定时器0中断TR0=1;//启动定时器0PT0=1;TR1=0;}void Pwm_Init(){CMOD=0X88;//PCA在空闲模式下停止计数；PCA时钟源为机器周期的1/4；不允许PCA中断CL=0x00;CH=0x00;CCAP0L=0x00;//占空比调节占空比=1-（CCAP0L/255）当前占空比是百分之25，5%=F2,3F时占空比为百分之75CCAP0H=0x00;CCAP1L=0x00;//占空比调节占空比=1-（CCAP0L/255）当前占空比是百分之25，3F时占空比为百分之75CCAP1H=0x00;CCAPM1=0x42;CCAPM0=0x42;CR=1;//计数器清零}void delay1ms(uint delay1ms)//STC11F60XE,22.1184M,延时1ms{for(;delay1ms>0;delay1ms--)for(i=0;i<7;i++)for(j=0;j<210;j++);}void pwm_set(uchar zsu,uchar ysu){int z,y;z=(65536*zsu)/100;y=(65536*ysu)/100;CCAP0L=(65536-z)%256;CCAP0H=(65536-z)/256;CCAP1L=(65536-y)%256;CCAP1H=(65536-y)/256;}/*void kz_duoji(){ET0=1;t=5;delay1ms(100);//260ET0=0;delay1ms(2000);//中间延时LED=0;delay1ms(50);LED=~LED;delay1ms(20);//delay1ms(1000);//中间延时ET0=1;t=11;delay1ms(200);//400ET0=0;//转45delay1ms(1000);//中间延时LED=0;delay1ms(50);LED=~LED;delay1ms(20);ET0=1;t=4;delay1ms(100);//260delay1ms(1000);//中间延时LED=0;delay1ms(50);LED=~LED;delay1ms(20);ET0=1;t=3;delay1ms(100);//260ET0=0;delay1ms(1000);//中间延时LED=0;delay1ms(5);LED=~LED;delay1ms(20);//ET0=1;//90//t=7;//delay1ms(50);//ET0=0;//delay1ms(200);//中间延时//pwm_set(60,98);//车转180°//IN1=1;IN2=0;IN3=0;IN4=1;//delay1ms(400);////ET0=1;//回转45°//t=8;//delay1ms(260);//ET0=0;////delay1ms(200);//中间延时////LED=~LED;//delay1ms(10);//LED=~LED;//delay1ms(10);////ET0=1;//回转45°//t=12;//delay1ms(400);//400//ET0=0;}//void kz_beep()//{//uchar i;//for(i=0;i<3;i++)//{//beep=~beep;//delay1ms(150);//}//beep=1;//}*/void xunhuan(void){a=P2;_nop_();_nop_();_nop_();//11100000111000011111100011111010111100101111010011100101 11101001111100001110001111100111111011001110110111110001 1111010111111100if((a==0X80)||(a==0X81)||(a==0X82)||(a==0X83)||(a==0X84)||(a==0X85)||(a==0X86)||(a==0X87)||( a==0X88)||(a==0X89)||(a==0X8A)||(a==0X8B)||(a==0X8C)||(a==0X8D)||(a==0X8E)||(a==0X8F)||(a==0X90)||(a==0X91)||(a==0X92)||(a==0X93)||(a==0X94)||(a==0X95)||(a==0X96)||(a==0X97)||( a==0X98)||(a==0X99)||(a==0X9A)||(a==0X9B)||(a==0X9C)||(a==0X9D)||(a==0X9E)||(a==0XA0)||(a==0XA1)||(a==0XA2)||(a==0XA3)||(a==0XA4)||(a==0XA5)||(a==0XA6)||(a==0XA 7)||(a==0XA8)||(a==0XA9)||(a==0XAA)||(a==0XAB)||(a==0XAC)||(a==0XAD)||(a==0XAE)||(a= =0XAF)||(a==0XB0)||(a==0XB1)||(a==0XB2)||(a==0XB3)||(a==0XB4)||(a==0XB5)||(a==0XB6)||(a==0XB7) ||(a==0XB8)||(a==0XB9)||(a==0XBA)||(a==0XBB)||(a==0XBC)||(a==0XBD)||(a==0XBE)||(a==0XC0)||(a==0XC1)||(a==0XC2)||(a==0XC3)||(a==0XC4)||(a==0XC5)||(a==0XC6) ||(a==0XC8)||(a==0XC9)||(a==0XCA)||(a==0XCB)||(a==0XCC)||(a==0XCD)||(a==0XCE)||(a==0XD0)||(a==0XD1)||(a==0XD2)||(a==0XD3)||(a==0XD4)||(a==0XD5)||(a==0XD6)||(a==0XD 7)||(a==0XD8)||(a==0XD9)||(a==0XDA)||(a==0XDB)||(a==0XDC)||(a==0XDD)||(a==0XDE)||(a==0XE0)||(a==0XE1)||(a==0XE2)||(a==0XE4)||(a==0XE5)||(a==0XE6) ||(a==0XE8)||(a==0XE9)||(a==0XEA)||(a==0XEB)||(a==0XEC)||(a==0XED)||(a==0XEE)||(a==0XF0)||(a==0XF1)||(a==0XF2)||(a==0XF4)||(a==0XF5)||(a==0XF6) ||(a==0XF8)||(a==0XFA)){delay1ms(25);if((a==0X80)||(a==0X81)||(a==0X82)||(a==0X83)||(a==0X84)||(a==0X85)||(a==0X86)||(a==0X87)||( a==0X88)||(a==0X89)||(a==0X8A)||(a==0X8B)||(a==0X8C)||(a==0X8D)||(a==0X8E)||(a==0X8F)||(a==0X90)||(a==0X91)||(a==0X92)||(a==0X93)||(a==0X94)||(a==0X95)||(a==0X96)||(a==0X97)||( a==0X98)||(a==0X99)||(a==0X9A)||(a==0X9B)||(a==0X9C)||(a==0X9D)||(a==0X9E)||(a==0XA0)||(a==0XA1)||(a==0XA2)||(a==0XA3)||(a==0XA4)||(a==0XA5)||(a==0XA6)||(a==0XA 7)||(a==0XA8)||(a==0XA9)||(a==0XAA)||(a==0XAB)||(a==0XAC)||(a==0XAD)||(a==0XAE)||(a= =0XAF)||(a==0XB0)||(a==0XB1)||(a==0XB2)||(a==0XB3)||(a==0XB4)||(a==0XB5)||(a==0XB6)||(a==0XB7) ||(a==0XB8)||(a==0XB9)||(a==0XBA)||(a==0XBB)||(a==0XBC)||(a==0XBD)||(a==0XBE)||(a==0XC0)||(a==0XC1)||(a==0XC2)||(a==0XC3)||(a==0XC4)||(a==0XC5)||(a==0XC6)||(a==0XC8)||(a==0XC9)||(a==0XCA)||(a==0XCB)||(a==0XCC)||(a==0XCD)||(a==0XCE)||(a==0XD0)||(a==0XD1)||(a==0XD2)||(a==0XD3)||(a==0XD4)||(a==0XD5)||(a==0XD6)||(a==0XD 7)||(a==0XD8)||(a==0XD9)||(a==0XDA)||(a==0XDB)||(a==0XDC)||(a==0XDD)||(a==0XDE)||(a==0XE0)||(a==0XE1)||(a==0XE2) ||(a==0XE4)||(a==0XE5)||(a==0XE6)||(a==0XE8)||(a==0XE9)||(a==0XEA)||(a==0XEB)||(a==0XEC)||(a==0XED)||(a==0XEE)||(a==0XF0)||(a==0XF1)||(a==0XF2) ||(a==0XF4)||(a==0XF5)||(a==0XF6)||(a==0XF8)||(a==0XFA) ){num=num+1;if(num==1)//装球{delay1ms(5);pwm_set(25,30);IN1=0;IN2=1;IN3=0;IN4=1;delay1ms(50);pwm_set(1,1);IN1=0;IN2=0;IN3=0;IN4=0;jiguang=0;//打开激光，灯闪烁LED=~LED;delay1ms(10);LED=~LED;delay1ms(10);delay1ms(2000);pwm_set(70,70);IN1=0;IN2=1;IN3=0;IN4=1;}if(num==2)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==3)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);TR1=1;if(flag==1){pwm_set(0,0);//停止IN1=0;IN2=0;IN3=0;IN4=0;LED=~LED;delay1ms(10);LED=~LED;delay1ms(10);kz_duoji();}elsepwm_set(50,55);//直走IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(500);}if(num==4)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==5)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==6)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==7)//右直角{pwm_set(60,65);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(150);pwm_set(94,53);IN1=0;IN2=1;IN3=1;IN4=0;delay1ms(580);}if(num==8)//右直角{pwm_set(60,65);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(150);pwm_set(94,53);IN1=0;IN2=1;IN3=1;IN4=0;delay1ms(580);}if(num==9)//右直角{pwm_set(60,65);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(150);pwm_set(94,53);IN1=0;IN2=1;IN3=1;IN4=0;delay1ms(580);}if(num==10)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==11)//右直角{pwm_set(60,65);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(150);pwm_set(94,53);IN1=0;IN2=1;IN3=1;IN4=0;delay1ms(580);}if(num==12)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==13)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==14)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==15)//右直角{}if(num==16)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==17)//右直角{}if(num==18)//右直角{}if(num==19)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==20)//右直角{}if(num==21)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==22)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);pwm_set(60,98);IN1=1;IN2=0;IN3=0;IN4=1;delay1ms(500);}if(num==23)//左直角{pwm_set(50,55);IN1=1;IN2=0;IN3=1;IN4=0;delay1ms(280);}}}}void jiance(void){a=P2;switch(a){//z//ycase zhong:pwm_set(77,82);IN1=0;IN2=1;IN3=0;IN4=1;break;//直走case zzhong:pwm_set(77,82);IN1=0;IN2=1;IN3=0;IN4=1;break;case zuo1:pwm_set(0,80);IN1=0;IN2=0;IN3=0;IN4=1;break;//偏右10走时case zuo2:pwm_set(0,88);IN1=0;IN2=0;IN3=0;IN4=1;break;//偏右20走时case zuo3:pwm_set(0,93);IN1=0;IN2=0;IN3=0;IN4=1;break;//偏右走时case zuo01:pwm_set(0,81);//偏右5走时IN1=0;IN2=0;IN3=0;IN4=1;break;case zuo12:pwm_set(0,86);//偏右15走时IN1=0;IN2=0;IN3=0;IN4=1;break;case zuo23:pwm_set(0,91);//偏右15走时IN1=0;IN2=0;IN3=0;IN4=1;break;//case zuo012:pwm_set(20,60);//偏右15走时//IN1=0;IN2=1;IN3=0;IN4=1;break;case you1:pwm_set(78,0);IN1=0;IN2=1;IN3=0;IN4=0;break;//偏左10走时case you2:pwm_set(83,0);IN1=0;IN2=1;IN3=0;IN4=0;break;//偏左20走时case you3:pwm_set(90,0);IN1=0;IN2=1;IN3=0;IN4=0;break;//偏左走时case you01:pwm_set(78,0);//偏左5走时IN1=0;IN2=1;IN3=0;IN4=0;break;case you12:pwm_set(81,0);//偏左15走时IN1=0;IN2=1;IN3=0;IN4=0;break;case you23:pwm_set(86,0);//偏左15走时IN1=0;IN2=1;IN3=0;IN4=0;break;case wu:pwm_set(50,55);//什么都检测不到IN1=0;IN2=1;IN3=0;IN4=1;break;default:xunhuan();break;}}void main(){Pwm_Init();duoji_init();P2=0xff;LED=1;while(1){if(open==0){jiance();}elseP2=0xff;}}//void tm0_isr(void)interrupt1//{//TL0=(65536-364)%256;//TH0=(65536-364)/256;//duoji_num++;//if(t==duoji_num)//{//duojipwm=0;//低电平//}//if(duoji_num==100)//{//duojipwm=1;//高电平//duoji_num=0;//}//}void Time1(void)interrupt3//3为定时器1的中断号1定时器0的中断号0外部中断12外部中断24串口中断{uchar timer1;TL1=(65536-50000)%256;TH1=(65536-50000)/256;timer1++;if(timer1==20)//1s{timer1=0;flag=1;}}。

#include<reg52.h>#define sense P1 /*宏定义光电传感器端口*/#define input1 P0 /*左电机的IN1,IN2定义在P0口*/#define input2 P2 /*右电机的IN3,IN4及ENA,ENB定义在P2口*/ //宏定义电机的具体端口sbit MOTO1_INT1=P0^0;sbit MOTO1_INT2=P0^1;sbit MOTO1_ENA=P2^0;sbit MOTO2_INT3=P2^5;sbit MOTO2_INT4=P2^4;sbit MOTO2_ENB=P2^2;//宏定义传感器的具体端口sbit sense_L=P1^3;sbit sense_R=P1^6;//宏定义金属传感器端口sbit METAL=P1^1;//宏定义DELAY函数中的一些变量int Dtime1=20000;int Dtime2=2000;int i=0;unsigned char SIGNAL(void); //传感器信号分析函数void DELAY(void); //延时函数void main(){int a;MOTO1_INT1=1; //使车开始时运动MOTO1_INT2=0;MOTO1_ENA=1;MOTO2_INT3=1;MOTO2_INT4=0;MOTO2_ENB=1;while(1){if(METAL==1) //有金属时车停止DELAY();else{a=SIGNAL();switch(a){case 1:input2=0x25;break; //前进case 2:input2=0x24;break; //左转case 3:input2=0x21;break; //右转default:break;}}}}void DELAY() //延时函数{input2=0x20; //使驱动芯片的两个使能端为0，使两个电机停转for(i=0;i<Dtime1;i++); //实现延时，用DTIME控制input2=0x25; //使驱动芯片的两个使能端为1,使两个电机重新转for(i=0;i<Dtime2;i++);}unsigned char SIGNAL(){unsigned char Re;Re=sense&0x28;if(Re==40)return 1;//前进else if(Re==8)return 2;//左转else if(Re==32)return 3;//右转else return 1;//有错时前进}。

智能小车程序（共三个）第一个：#include "reg52.h"#define det_Dist 2.55 //单个脉冲对应的小车行走距离，其值为车轮周长/4#define RD 9 //小车对角轴长度#define PI 3.1415926#define ANG_90 90#define ANG_90_T 102#define ANG_180 189/*============================全局变量定义区============================*/sbit P10=P1^0; //控制继电器的开闭sbit P11=P1^1; //控制金属接近开关sbit P12=P1^2; //控制颜色传感器的开闭sbit P07=P0^7; //控制声光信号的开启sbit P26=P2^6; //接收颜色传感器的信号，白为0，黑为1sbit P24=P2^4; //左sbit P25=P2^5; //右接收左右光传感器的信号，有光为0unsigned char mType=0; //设置运动的方式，0 向前1 向左2 向后3 向右unsigned char Direction=0; //小车的即时朝向0 朝上1 朝左2 朝下3 朝右unsigned sX=50; unsigned char sY=0; //小车的相对右下角的坐标CM（sX,sY）unsigned char StartTask=0; //获得铁片后开始执行返回卸货任务，StartTask置一unsigned char Inter_EX0=0; // 完成一个完整的任务期间只能有一次外部中断// Inter_EX0记录外部中断0的中断状态// 0 动作最近的前一次未中断过，// 1 动作最近的前一次中断过unsigned char cntIorn=0; //铁片数unsigned char bkAim=2; //回程目的地，0为A仓库，1为B仓库，2为停车场，//(在MAIN中接受铁片颜色判断传感器的信号来赋值)unsigned char Light_Flag=0;//进入光引导区的标志(1)unsigned int cntTime_5Min=0;//时间周期数,用于T0 精确定时unsigned int cntTime_Plues=0; //霍尔开关产生的脉冲数/*============================全局变量定义区============================*//*------------------------------------------------*//*-----------------通用延迟程序-------------------*//*------------------------------------------------*/void delay(unsigned int time) // time*0.5ms延时{unsigned int i,j;for(j=0;j<time;j++){for(i=0;i<60;i++){;}}}/*-----------------------------------------------*//*-------------------显示控制模块----------------*//*-----------------------------------------------*//*数码管显示，显示铁片的数目(设接在P0，共阴)*/void Display(unsigned char n){char Numb[12]={0x3F,0x06,0x5B,0x4F,0x66,0x6D,0x7D,0x07,0x7F,0x6F,0x37,0x77}; P0=Numb[n];}/*-----------------------------------------------*//*-------------------传感器模块------------------*//*-----------------------------------------------*//*光源检测程序: *//*用于纠正小车运行路线的正确性*/unsigned char LightSeek(){ void Display(unsigned char);bit l,r;l=P24;r=P25;if(l==0&&r==1){//Display(1);return (3); //偏左,向右开}if(r==0&&l==1){//Display(3);return(1); //偏右,向左开}if((l==1&&r==1)||(l==0&&r==0)){//Display(9);return(0); //没有偏离,前进}}/*铁片检测程序: *//*判断铁片的颜色，设定bkAim,0为A仓库，1为B仓库，2为停车场*/ void IornColor(){delay(4000);bkAim=(int)(P26);Display((int)(P26)+2);}/*-----------------------------------------------*//*------------------运动控制模块-----------------*//*-----------------------------------------------*//*====基本动作层:完成基本运动动作的程序集====*//*运动调整程序: *//*对小车的运动进行微调*/void ctrMotor_Adjust(unsigned char t){if(t==0){P2=P2&240|11; //用来解决两电机不对称的问题delay(6);}if(t==3){P2=P2&250; //向左走delay(1);}if(t==1){P2=(P2&245);delay(1); //向右走}P2=((P2&240)|15);delay(10);}/*直走程序: *//*控制小车运动距离,dist为运动距离(cm),type为运动方式(0 2)*/ /*只改变小车sX 和sY的值而不改变Direction的值. */ void ctrMotor_Dist(float dist,unsigned char type){unsigned char t=0;mType=type;P2=((P2&240)|15);cntTime_Plues=(int)(dist/det_Dist);while(cntTime_Plues){if(Inter_EX0==1&&StartTask==0){cntTime_Plues=0;break;}if(Light_Flag==1) t=LightSeek();if(type==0) //向前走{P2=P2&249;delay(40);ctrMotor_Adjust(t);}if(type==2) //向后退{P2=P2&246;delay(50);ctrMotor_Adjust(t);}P2=((P2&240)|15);if(mType==2) delay(60);//刹车制动0.5mselse delay(75);}}/*拐弯程序: *//*控制小车运动角度,type为运动方式（1 3）*//*只改变小车Direction的值而不改变sX 和sY的值*/void ctrMotor_Ang(unsigned char ang,unsigned char type,unsigned char dir) {unsigned char i=0;mType=type;P2=((P2&240)|15);cntTime_Plues=(int)((PI*RD*90/(180*det_Dist)*1.2)*ang/90);while(cntTime_Plues){if(Inter_EX0==1&&StartTask==0){cntTime_Plues=0;break;}if(type==1) //向左走{P2=P2&250;delay(100);ctrMotor_Adjust(0);}if(type==3) //向右走{P2=P2&245;delay(100);ctrMotor_Adjust(0);}P2=((P2&240)|15);delay(50);//刹车制动0.5ms}if(!(Inter_EX0==1&&StartTask==0)){Direction=dir;}}/*====基本路线层:描述小车基本运动路线的程序集====*//*当小车到达仓库或停车场时，放下铁片或停车(0，1为仓库，2为停车场)*/void rchPlace(){unsigned int time,b,s,g;time=(int)(cntTime_5Min*0.065535);//只有一个数码管时，轮流显示全过程秒数个十百b=time%100;s=(time-b*100)%100;g=(time-b*100-s*10)%10;if(bkAim==2){//到达停车场了，停车EA=0;P2=((P2&240)|15);while(1){Display(10); //Ndelay(2000);Display(cntIorn);delay(2000);Display(11);//Adelay(2000);Display(b);delay(2000);Display(s);delay(2000);Display(g);delay(2000);}}else{if(Inter_EX0==1&&StartTask==1)P10=0; //到达仓库，卸下铁片}}/*无任务模式: *//*设置小车的固定运动路线,未发现铁片时的运动路线*/void BasicRoute(){ //Light_Flag=1;ctrMotor_Dist(153,0);//Light_Flag=0;ctrMotor_Ang(ANG_90,1,1);ctrMotor_Dist(100-sX,0);ctrMotor_Dist(125,2);ctrMotor_Dist(73,0);ctrMotor_Ang(ANG_90,1,2);//Light_Flag=1;ctrMotor_Dist(153,0);//Light_Flag=0;ctrMotor_Ang(ANG_180,1,0);rchPlace();}/*任务模式: *//*设置小车的发现铁片后的运动路线*/void TaskRoute(){//基本运行路线表,记载拐弯0 向前1 左拐2 向后3 右拐，正读去A区;反读去B区StartTask=1;ctrMotor_Ang(ANG_90_T,1,2);if(bkAim==1) //仓库A{ctrMotor_Dist(10,0);P2=((P2&240)|15);delay(60);ctrMotor_Ang(ANG_90_T,1,3);ctrMotor_Dist(100-sX,2);ctrMotor_Ang(ANG_90_T,1,2);Light_Flag=1;ctrMotor_Dist(153,2);Light_Flag=0;// ctrMotor_Ang(208,1,0);}else if(bkAim==0) //仓库B{ctrMotor_Dist(10,0);P2=((P2&240)|15);delay(60);ctrMotor_Ang(ANG_90_T,1,3);ctrMotor_Dist(100-sX,0);ctrMotor_Ang(ANG_90_T,1,0);Light_Flag=1;ctrMotor_Dist(153,2);Light_Flag=0;//ctrMotor_Ang(208,1,0);}delay(5000);rchPlace();}/*---------------------------------------------*//*-------------------主程序段------------------*/ /*---------------------------------------------*/void main(){delay(4000);P2=0xff; //初始化端口P07=0;P1=0;TMOD=0x01; //初始化定时器0/1 及其中断TL0=0;TH0=0;TR0=1;ET0=1;ET1=1;IT0=1; //初始化外部中断EX0=1;IT1=1;EX1=1;EA=1;P11=1;while(1){Display(cntIorn);bkAim=2;BasicRoute();if(Inter_EX0==1){TaskRoute();//按获得铁片后的路线运动IE0=0;EX0=1;}Inter_EX0=0;}}/*----------------------------------------------------*//*----------------------中断程序段--------------------*//*----------------------------------------------------*//*定时器0中断程序: *//*当时间过了5分钟，则就地停车并进入休眠状态*/ void tmOver(void) interrupt 1{cntTime_5Min++;TL0=0;TH0=0;if(cntTime_5Min>=4520){Display(5);P2=((P2&240)|15);EA=0; //停车程序P07=1;delay(4000);PCON=0X00;while(1);}}/*外部中断0中断程序: *//*发现铁片，发出声光信号并将铁片吸起，发光二极管和蜂鸣器*//*并联在一起（设接在P07）. 0为A仓库，1为B仓库，2为停车场*/ void fndIorn(void) interrupt 0{unsigned char i;P10=1;P2=((P2&240)|15); //停车P07=1;delay(1000);//刹车制动0.5msP07=0;Inter_EX0=1;cntIorn++;Display(cntIorn);for(i=0;i<40;i++){P2=P2&249;delay(2);P2=((P2&240)|15);delay(2);}P2=P2&249;delay(100);P2=((P2&240)|15); //停车IornColor(); //判断铁片黑白,设置bkAimfor(i=0;i<95;i++)P2=P2&249;delay(3);P2=((P2&240)|15);delay(2);}P2=((P2&240)|15); //停车delay(4000); //把铁片吸起来EX0=0;}/*外部中断1中断程序: *//*对霍尔开关的脉冲记数,对小车的位置进行记录，以便对小车进行定位*/ void stpMove(void) interrupt 2{cntTime_Plues--;if(Direction==0) //向上{if(mType==0) sY+=det_Dist;else if(mType==2)sY-=det_Dist;}else if(Direction==1) //向左{if(mType==0) sX+=det_Dist;else if(mType==2)sX-=det_Dist;}else if(Direction==2) //向下{if(mType==0) sY-=det_Dist;else if(mType==2)sY+=det_Dist;}else if(Direction==3) //向右{if(mType==0) sX-=det_Dist;else if(mType==2)sX+=det_Dist;}第二个：#include<reg52.h>#define uchar unsigned char#define uint unsigned intsbit moto1=P1^5;sbit moto2=P1^6;sbit moto3=P2^0;sbit moto4=P2^1;sbit en1=P1^7;sbit en2=P2^2;//*循迹口七个红外传感器*///////////////sbit left1=P1^0;//*左边传感器*//sbit left2=P1^1;sbit left3=P1^2;sbit mid=P1^3;//*黑线位置*//sbit right1=P1^4;sbit right2=P2^3;sbit right3=P2^4;//*右边传感器*//////////////// sbit hled=P0^0;sbit bled=P0^1;sbit lled=P0^2;sbit rled=P0^3;sbit bizhang=P2^5;uchar pro_head;uchar pro_back;uchar i;uchar j; //前后占空比标志void delay(uint z){uchar i;while(z--){for(i=0;i<121;i++);}}/********初始化定时器，中断************/ void init(){TMOD=0x01;TH0=(65536-100)/256;TL0=(65536-100)%256;EA=1;TR0=1;en1=1;en2=1;}void time0(void) interrupt 1{i++;j++;if(i<=pro_back){en1=1;}else{en1=0;}if(i==40){en1=~en1;i=0;}if(j<=pro_head){en2=1;}else{en2=0;}if(j==40){en2=~en2;j=0;}TH0=(65536-100)/256;TL0=(65536-100)%256;}void qianjin()//*直行*///////////////////// {pro_back=15;pro_head=5;moto1=0;moto2=0;moto4=0;lled=1;rled=1;bled=1;}void turn_right1()//*右转1函数*//{pro_back=10;pro_head=15;moto1=0;moto2=1;moto3=1;moto4=0;}。

int Left_motor_go=6; //左电机前进(IN1)int Left_motor_back=7; //左电机后退(IN2)int Right_motor_go=9; // 右电机前进(IN3)int Right_motor_back=10; // 右电机后退(IN4)const int SensorRight = 3; //右循迹红外传感器(P3.2 OUT1)const int SensorLeft = 4; //左循迹红外传感器(P3.3 OUT2)int SL; //左循迹红外传感器状态int SR; //右循迹红外传感器状态void setup(){//初始化电机驱动IO为输出方式pinMode(Left_motor_go,OUTPUT); // PIN 8 (PWM)pinMode(Left_motor_back,OUTPUT); // PIN 9 (PWM)pinMode(Right_motor_go,OUTPUT);// PIN 10 (PWM)pinMode(Right_motor_back,OUTPUT);// PIN 11 (PWM)pinMode(SensorRight, INPUT); //定义右循迹红外传感器为输入pinMode(SensorLeft, INPUT); //定义左循迹红外传感器为输入}//=======================智能小车的基本动作========================= //void run(int time) // 前进void run(){digitalWrite(Right_motor_go,HIGH); // 右电机前进digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,20);//PWM比例0~255调速，左右轮差异略增减analogWrite(Right_motor_back,0);digitalWrite(Left_motor_go,LOW); // 左电机前进digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0);//PWM比例0~255调速，左右轮差异略增减analogWrite(Left_motor_back,127 );//delay(time * 100); //执行时间，可以调整}//void brake(int time) //刹车，停车void brake(){digitalWrite(Right_motor_go,LOW);digitalWrite(Right_motor_back,LOW);digitalWrite(Left_motor_go,LOW);digitalWrite(Left_motor_back,LOW);//delay(time * 100);//执行时间，可以调整}//void left(int time) //左转(左轮不动，右轮前进) void left(){digitalWrite(Right_motor_go,HIGH);// 右电机前进digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_go,1);analogWrite(Right_motor_back,0);//PWM比例0~255调速digitalWrite(Left_motor_go,LOW); //左轮后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,0);analogWrite(Left_motor_back,0);//PWM比例0~255调速//delay(time * 100);//执行时间，可以调整}void right(){digitalWrite(Right_motor_go,LOW); //右电机后退digitalWrite(Right_motor_back,LOW);analogWrite(Right_motor_back,0);//PWM比例0~255调速digitalWrite(Left_motor_go,LOW);//左电机前进digitalWrite(Left_motor_back,HIGH);analogWrite(Left_motor_go,0);analogWrite(Left_motor_back,127);//delay(time * 100);//执行时间，可以调整}void back(int time){digitalWrite(Right_motor_go,LOW); //右轮后退digitalWrite(Right_motor_back,HIGH);analogWrite(Right_motor_go,0);analogWrite(Right_motor_back,60);//PWM比例0~255调速digitalWrite(Left_motor_go,HIGH); //左轮后退digitalWrite(Left_motor_back,LOW);analogWrite(Left_motor_go,60);analogWrite(Left_motor_back,0);//PWM比例0~255调速delay(time * 100); //执行时间，可以调整}//==========================================================void loop(){//有信号为LOW 没有信号为HIGH 检测到黑线输出高检测到白色区域输出低SR = digitalRead(SensorRight);//有信号表明在白色区域，车子底板上L1亮；没信号表明压在黑线上，车子底板上L1灭SL = digitalRead(SensorLeft);//有信号表明在白色区域，车子底板上L2亮；没信号表明压在黑线上，车子底板上L2灭if (SL == LOW&&SR==LOW)run(); //调用前进函数else if (SL == HIGH & SR == LOW)// 左循迹红外传感器,检测到信号，车子向右偏离轨道，向左转left();else if (SR == HIGH & SL == LOW) // 右循迹红外传感器,检测到信号，车子向左偏离轨道，向右转right();else // 都是黑色, 停止brake();}。

寻迹小车程序下面是我最开始做寻迹小车的时候写的寻迹小车代码，代码非常简单里面的注释比较少，如果看不懂的话可以留言。

#include<reg52.h>#define uchar unsigned char#define uint unsigned intuchar a1,a2;uint PWM1,PWM2;//电机驱动sbit ENA=P2^5;sbit ENB=P2^4;sbit z1=P2^1;sbit z2=P2^0;sbit y1=P2^3;sbit y2=P2^2;//寻迹sbit x1=P1^0;sbit x2=P1^1;sbit x3=P1^2;sbit x4=P1^3;/*void delay(uchar z){uchar x,y;for(x=z;x>0;x--)for(y=110;y>0;y--);}*/void zhixing() //直行{z1=1;z2=0;PWM2=20; //控制左电机y1=1;y2=0;PWM1=18; //控制右电机}void zuotiao_s() //向左小调{z1=1;z2=0;PWM2=22; //25y1=1;y2=0;PWM1=20;}void youtiao_s() //向右小调{z1=1;z2=0;PWM2=24; //28y1=1;y2=0;PWM1=18;//20}void zuotiao_b() //向左大调{z1=0;z2=1;// PWM2=0;PWM2=18;y1=1;y2=0;PWM1=35;}void youtiao_b() //向右大调{z1=1;z2=0;// PWM2=70;PWM2=35;y1=0;y2=1;// PWM1=0;PWM1=15;}void zuozhuan() //向左转{z1=0;z2=1;PWM2=50;PWM2=25;y1=1;y2=0;PWM1=30;}void youzhuan() //向右转{z1=1;z2=0;PWM2=50;PWM2=25;y1=0;y2=1;PWM1=50;PWM1=25;}/*void stop() //停止{z1=0;z2=0;y1=0;y2=0;}*/void time0init(){TH0=(65536-100)/256;TL0=(65536-100)%256;EA=1;TR0=1;ET0=1;}void time0 () interrupt 1 {TH0=(65536-100)/256;TL0=(65536-100)%256;a1++;a2++;if(a1>100)a1=0;if(a2>100)a2=0;if(a1<PWM1)ENA=1;if(a2<PWM2)ENB=1;if(a1>PWM1)ENA=0;if(a2>PWM2)ENB=0;}void main(){time0init();while(1){if(x1==0&&x2==1&&x3==1&&x4==0){zhixing();}else if(x1==0&&x2==0&&x3==1&&x4==0){youtiao_s();}else if(x1==0&&x2==1&&x3==0&&x4==0) {zuotiao_s();}else if(x1==0&&x2==0&&x3==0&&x4==1) {youtiao_b();// delay(6);}else if(x1==0&&x2==0&&x3==1&&x4==1) {youtiao_b();// delay(6);}else if(x1==1&&x2==0&&x3==0&&x4==0) {// delay(6);}else if(x1==1&&x2==1&&x3==0&&x4==0) {zuotiao_b();}else if(x1==1&&x2==0&&x3==1&&x4==0) {while(!x4){zuozhuan();}}else if(x1==0&&x2==1&&x3==1&&x4==1) {while(!x1){}}else if(x1==0&&x2==1&&x3==0&&x4==1) {while(!x1){youzhuan();}}else if(x1==1&&x2==1&&x3==1&&x4==0) {while(!x4){zuozhuan();}}else if(x1==1&&x2==1&&x3==1&&x4==1){zhixing();}else if(x1==1&&x2==0&&x3==0&&x4==1){zuotiao_s();}else{zhixing();}}}。

arduino智能循迹⼩车代码（三个循迹模块）#include <Servo.h>int leftMotor1 = 3;int leftMotor2 = 5;int rightMotor1 = 6;int rightMotor2 = 11;int sum=0;void setup() {Serial.begin(9600);pinMode(leftMotor1, OUTPUT);pinMode(leftMotor2, OUTPUT);pinMode(rightMotor1, OUTPUT);pinMode(rightMotor2, OUTPUT);pinMode(A0, INPUT);pinMode(A1, INPUT);pinMode(A2, INPUT);}void loop() {tracing();}void tracing(){int data[4];data[0]=analogRead(A0);data[1]=analogRead(A1);data[2]=analogRead(A2);if(data[0]<210&&data[1]>500&&data[2]<210)//向前⾛{analogWrite(3,100);analogWrite(5,0);analogWrite(6,100);analogWrite(11,0);}if(data[0]>500 &&data[1]<210 && data[2]<210) // ⼩车偏左{analogWrite(3,0);analogWrite(5,0);analogWrite(6,120);analogWrite(11,0);}if(data[0]>500&&data[1]>500&&data[2]<210) //⼩车偏⼤左{analogWrite(3,0);analogWrite(5,120);analogWrite(6,120);analogWrite(11,0);}if(data[0]<210&&(data[1]-30)<210&&data[2]>500) //⼩车偏右{analogWrite(3,120);analogWrite(5,0);analogWrite(6,0);analogWrite(11,0);}if(data[0]<210&&data[1]>500&&data[2]>500) //⼩车偏⼤右{analogWrite(3,120);analogWrite(5,0);analogWrite(6,0);analogWrite(11,120);}if(data[0]>500&&data[1]>500&&data[2]>500) //左右都检测到⿊线是停⽌{analogWrite(3,0);analogWrite(5,0);analogWrite(6,0); analogWrite(11,0);}Serial.print(data[0]); Serial.print("---"); Serial.print(data[1]-30); Serial.print("---"); Serial.print(data[2]); Serial.print("---"); Serial.println(data[3]); }。

巡线车程序（完整版)1 #ifndef _Macro.h_2 #define _Macro.h_3 #include <msp430x14x.h>4 #include <intrinsics.h>5 #define uchar unsigned char6 #define uint unsigned int7 #define one 11.118 #define LMAX 19999 #define RMAX 399910 #define CPU_F ((double)8000000)11 #define delay_us(x)__delay_cycles((long)(CPU_F*(double)x/1000000.0))1213 #define delay_ms(x) __delay_cycles((long)(CPU_F*(double)x/1000.0))14 #define PC 20 // 比例放大系数15 #define IC 0 //积分放大系数16 #define DC 85 //大系数17 #define LEFTOUT TACCR118 #define RIGHTOUT TACCR219 #define SensorIn P5IN20 #define F 5000//5000hz21 #define Period (8000000/F)22 #define EnableLeftPos P3OUT|=BIT123 #define UnenableLeftPos P3OUT&=~BIT12425 #define EnableLeftNeg P3OUT|=BIT026 #define UnenableLeftNeg P3OUT&=~BIT02728 #define EnableRightPos P3OUT|=BIT229 #define UnenableRightPos P3OUT&=~BIT23031 #define EnableRightNeg P3OUT|=BIT332 #define UnenableRightNeg P3OUT&=~BIT33334 #define Basic_Left 100//百分之八十35 #define Basic_Right 100//Basic_Left36 #define MAX (100)37 #define MIN (-100)38 #define foreward 139 #define backward 040 #define max_speed 10041 #define min_speed -10042 #define key 0434445 #define left_1 146 #define left_2 247 #define left_3 348 #define left_4 449 #define left_5 550 #define left_6 651 #define left_7 7//右直角5253 #define right_1 -154 #define right_2 -255 #define right_3 -356 #define right_4 -457 #define right_5 -558 #define right_6 -659 #define right_7 -7//左直角60 #endif[cpp]view plaincopy61 #include "Macro.h"62 #include "sensor.h"63 void Motorstop()64 {65 LEFTOUT=0;66 RIGHTOUT=0;67 }68 void MotorLeft(int speed,int direction)69 {70 if(speed>max_speed)speed=max_speed;71 if(direction==backward)//反转72 {73 EnableLeftNeg;74 UnenableLeftPos;75 }76 else if(direction==foreward)//正转77 {78 EnableLeftPos;79 UnenableLeftNeg;80 }81 LEFTOUT=Period/100*speed;82 }83 void MotorRight(int speed,int direction)84 {85 if(speed>max_speed)speed=max_speed;8687 if(direction==backward)//反转88 {89 EnableRightNeg;90 UnenableRightPos;91 }92 else if(direction==foreward)//正转93 {94 EnableRightPos;95 UnenableRightNeg;96 }97 RIGHTOUT=Period/100*speed;98 }99 void MotorDrive(int PIDout)100 {101 int speedleft,speedright;102 speedleft=Basic_Left PIDout;103 speedright=Basic_Right-PIDout;104105 if(speedleft<0)106 MotorLeft(speedleft,backward);//反转107 else MotorLeft(speedleft,foreward);//正转108109 if(speedright<0)110 MotorRight(speedright,backward);//反转111 else MotorRight(speedright,foreward);//正转112 }113 void Rangle(float angle)114 {115 // TBCTL|=TBCLR;116 TBCCR1=LMAX (unsigned int)(angle*one);117 }[cpp]view plaincopy118 //下面是小车的程序。

/****************************************************************************硬件连接P1_4接驱动模块ENA使能端，输入PWM信号调节速度P1_5接驱动模块ENB使能端，输入PWM信号调节速度P1_0 P1_1接IN1 IN2 当P1_0=1,P1_1=0; 时左电机正转驱动蓝色输出端OUT1 OUT2接左电机P1_0 P1_1接IN1 IN2 当P1_0=0,P1_1=1; 时左电机反转P1_2 P1_3接IN3 IN4 当P1_2=1,P1_3=0; 时右电机正转驱动蓝色输出端OUT3 OUT4接右电机P1_2 P1_3接IN3 IN4 当P1_2=0,P1_3=1; 时右电机反转P1_0接四路寻迹模块接口第一路输出信号即中控板上面标记为OUT1P1_1接四路寻迹模块接口第二路输出信号即中控板上面标记为OUT2P1_2接四路寻迹模块接口第三路输出信号即中控板上面标记为OUT3P1_3接四路寻迹模块接口第四路输出信号即中控板上面标记为OUT4八路寻迹传感器有信号(白线）为0 没有信号（黑线）为1****************************************************************************/#include<AT89x51.H>#define Right_moto_pwm P1_4 //接驱动模块ENA使能端，输入PWM信号调节速度#define Left_moto_pwm P1_5 //接驱动模块ENB使能端，输入PWM 信号调节速度#define Left_1_led P2_0 //四路寻迹模块接口第一路#define Left_2_led P2_1 //四路寻迹模块接口第二路#define Right_1_led P2_2 //四路寻迹模块接口第三路#define Right_2_led P2_3 //四路寻迹模块接口第四路#define Left_moto_go {P1_0=0,P1_1=1;} //左电机前进#define Left_moto_back {P1_0=1,P1_1=0;} //左电机后退#define Left_moto_stop {P1_0=1,P1_1=1;} //左电机停转#define Right_moto_go {P1_2=0,P1_3=1;} //右电机前转#define Right_moto_back {P1_2=1,P1_3=0;} //右电机后退#define Right_moto_stop {P1_2=1,P1_3=1;} //右电机停转#define uchar unsigned char#define uint unsigned intuchar pwm_val_left =0;uchar push_val_left =0; //左电机占空比N/10uchar pwm_val_right =0;uchar push_val_right=0; //右电机占空比N/10bit Right_moto_stp=1;bit Left_moto_stp =1;/**************************************************************** ********/void run(void)//前进函数{push_val_left =13; //PWM 调节参数1-20 1为最慢，20是最快改这个值可以改变其速度push_val_right =15; //PWM 调节参数1-20 1为最慢，20是最快改这个值可以改变其速度Left_moto_go ;//左电机前进Right_moto_go ; //右电机前进}/**************************************************************** ********/void left(void) //左转函数{push_val_left =8;push_val_right =9;Right_moto_go;//右电机继续Left_moto_stop;//左电机停走}/************************************************************************/void right(void)//右转函数{push_val_left =8;push_val_right =9;Right_moto_stop;//右电机停走Left_moto_go;//左电机继续}void Delayms(uint x){uchar i;while(x--)for(i=0;i<120;i++);}void stop(void){Right_moto_stop;//右电机停走Left_moto_stop;//左电机停走Delayms(3000);run();Delayms(100);}/*************************PWM调制电机转速********************************/void pwm_out_left_moto(void) //左电机调速,调节push_val_left的值改变电机转速,占空比{if(Left_moto_stp){if(pwm_val_left<=push_val_left)Left_moto_pwm=1;elseLeft_moto_pwm=0;if(pwm_val_left>=20)pwm_val_left=0;}elseLeft_moto_pwm=0;}void pwm_out_right_moto(void) //右电机调速,调节push_val_left的值改变电机转速,占空比{if(Right_moto_stp){if(pwm_val_right<=push_val_right)Right_moto_pwm=1;elseRight_moto_pwm=0;if(pwm_val_right>=20)pwm_val_right=0;}elseRight_moto_pwm=0;}/***************************************************/void xunji(){switch(P2&0x0f){case 0x00: // 全部没有压线，直走run(); break;case 0x01:// 右压线，左转left(); break;case 0x02: // 右压线，左转left(); break;case 0x04: // 左压线，转右right(); break;case 0x08: // 左压线，右转right();break;case 0x0f:stop();break;default:run(); break;}}/***********TIMER0中断服务子函数产生PWM信号**********/ void timer0()interrupt 1 using 2{TH0=0XF8; //2Ms定时TL0=0X30;pwm_val_left++;pwm_val_right++;pwm_out_left_moto();pwm_out_right_moto();}/***************************************************/ void main(void){TMOD=0X01;TH0= 0XF8; //2ms定时TL0= 0X30;TR0= 1;ET0= 1;EA = 1;while(1)/*无限循环*/{xunji();} }。

这是我做的两路循迹小车的程序#include<reg52.h>#define uint unsigned int#define uchar unsigned charsbit PWM1=P1^0;//电机驱动和单片机连接引脚定义sbit IN1=P1^1;sbit IN2=P1^2;sbit IN3=P1^3;sbit IN4=P1^4;sbit PWM2=P1^5;sbit zuo=P1^6;//小车前方左传感器定义sbit you=P1^7;//小车前方右传感器定义uchar count1,count2;//小车PWM调速变量定义void delay(unsigned char z) //毫秒延时{int i,j;for(i=z;i>0;i--)for(j=110;j>0;j--);}void forwardzuo(){IN1=1;IN2=0;}void forwardyou(){IN3=1;IN4=0;}void speed(int cnt1,int sd1,int cnt2, int sd2) // PWM 调速{if(cnt1<sd1)PWM1=1;elsePWM1=0;if(cnt2<sd2)PWM2=1;elsePWM2=0;}void turn(cnt1,sd1,cnt2,sd2)//电机的前进，左转，右转控制{forwardzuo();forwardyou();speed(cnt1,sd1,cnt2,sd2);}main(){TMOD=0x01;EA=1;TH0=(65536-200)/256;TL0=(65536-200)%256;ET0=1;TR0=1;while(1){if(zuo==0&&you==0) {turn(count1,5,count2,5);}//左右都未检测黑线，前进if(zuo==1&&you==1) {turn(count1,5,count2,5);}//左右都检测黑线，前进if(zuo==1&&you==0) {turn(count1,5,count2,0);}//左检测黑线，左转if(zuo==0&&you==1) {turn(count1,0,count2,5);}//右检测黑线，右转}}void time0() interrupt 1{TH0=(65536-200)/256;TL0=(65536-200)%256;count1++;count2++;if(count1>=10) //周期500mscount1=0;if(count2>=10)count2=0;}。