51PWM怎么同时控制两侧轮子调速啊

杨文超 · 发表于 2019-6-4 14:50:11

#include <math.h>
#include "STC12C5A60S2.H"
# include <intrins.h>
#include "oled.h"
# define uchar unsigned  char
# define uint  unsigned  int
sbit A=P0^4;
sbit BD=P0^5;
sbit C=P0^6;
sbit D=P0^7;
unsigned char SHU;
unsigned char temp;
/*  -------------函数声明开始---------------  */
void init_adc(unsigned ChannelInit);
uint get_adc(unsigned Channel);
  /*  -------------函数声明结束---------------  */
typedef unsigned int u16;

sbit LSA = P2^2;
sbit LSB = P2^3;
sbit LSC = P2^4;

unsigned char code wei[]={0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f};
//????????
unsigned char code duan[]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,
                     0x07,0x7f,0x6f,0x77,0x7c,0x39,0x5e,0x79,0x71};
//0-f???
u8 disp[4];
u8 code smgduan[10] = {0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f};

void delay(u16 i)
{
while(i--);
}

void datapros()
{

static u8 i;
if(i==50){
      i=0;
      temp =get_adc(1);
}
i++;
disp[0] = smgduan[temp/1000];
disp[1] = smgduan[temp%1000/100];
disp[2] = smgduan[temp%1000%100/10];
disp[3] = smgduan[temp%1000%100%10];
}

void DigDisplay()
{
u8 i;
for(i=0;i<4;i++){
      switch(i){
         case(0)

SA=0;LSB=0;LSC=0;break;
case(1)

SA=1;LSB=0;LSC=0;break;
case(2)

SA=0;LSB=1;LSC=0;break;
case(3)

SA=1;LSB=1;LSC=0;break;
      }
      P0 = disp[i];
      delay(100);
      P0 = 0x00;
}
}

void init_adc(unsigned ChannelInit)
{
P1ASF = ChannelInit; //AD功能寄存器，设置Ｉ/Ｏ口作为ＡＤ转换实用。使用Ｐ1.0口。
ADC_RES = 0; //清理结果寄存器的值
  ADC_RESL = 0; //清理结果寄存器的值
ADC_CONTR = 0xA0; //开启ＡＤ电源并设置转换周期为540个时钟周期转换一次。
delay(3600);
}

uint get_adc(unsigned Channel)
{
uint d=0;
ADC_CONTR = 0X88|Channel;
_nop_();
_nop_();
_nop_();
_nop_();
  while(!(ADC_CONTR & 0X10));
ADC_CONTR &= ~0X10;
d |= ADC_RES;
  d <<= 2;
d |= ADC_RESL;
return d;
}

void BlueteethInit()
{
SM0=0;
SM1=1;
REN=1;
EA=1;
ES=1;
TMOD|=0X20;
TH1=0XFD;
TL1=0XFD;
TR1=1;
}

int a=1;
void main (void)
{
int h=0;
BlueteethInit();
init_adc(0x00);
while(1)
{

h=get_adc(0)/10;

SBUF=h;
while(!TI);
TI=0;
h=get_adc(1)/10+110;

SBUF=h;
while(!TI);
TI=0;
delay(500000);

}

}
这串代码貌似只能控制两轮同速的情况，我想要实现转弯，就必须分别控制左右轮的速度，分别控制就需要两个定时中断，定时器还要同时计时，请问应该如何改写代码来实现啊

杨文超 · 发表于 2019-6-4 14:51:16

刚刚那个是控制器的代码，附上，小车上的代码
#include <reg52.h>
sbit PWMOUT = P0^0;
sbit ADDR0 = P1^0;
sbit ADDR1 = P1^1;
sbit ADDR2 = P1^2;
sbit ADDR3 = P1^3;
sbit ENLED = P1^4;
sbit A=P2^0;
sbit BD=P2^1;
sbit C=P2^2;
sbit D=P2^3;
unsigned char HighRH = 0; //高电平重载值的高字节
unsigned char HighRL = 0; //高电平重载值的低字节
unsigned char LowRH = 0; //低电平重载值的高字节
unsigned char LowRL = 0; //低电平重载值的低字节
int k = 0;
int temp = 0;
int temp2 = 0;
void ConfigPWM(unsigned int fr, unsigned char dc);
void ClosePWM();
//控制小车移动//
int stop()
{
A=0;
BD=0;
C=0;
D=0;
}

int go()
{
A=0;
BD=1;
C=1;
D=0;
}
int back()
{
A=1;
BD=0;
C=0;
D=1;
}
int leftgo()
{
A=0;
BD=1;
}
int rightgo()
{
C=1;
D=0;
}
int leftstop()
{
A=0;
BD=0;
}
int rightstop()
{
C=0;
D=0;
}
void InitUART()//串口初始化
{
TMOD = 0x20;
SCON = 0x50;
TH1 = 0xFd;
TL1 = 0xFd;
PCON = 0x00;
EA = 1;
ES = 1;
TR1 = 1;
}

void main()
{
InitUART();//串口初始化
while (1)
{
int i;
/*控制小车向前*/
if(k<67)
{
temp=k*2;
ConfigPWM(100,temp);
for (i=0; i<400; i++)
{
if(PWMOUT == 1)
go();
else
stop();
}
   ClosePWM();
}
/*控制小车向后*/
if((k>67)&&(k<102))
{
temp=(k-50)*2;
ConfigPWM(100,temp);
for (i=0; i<400; i++)
{
if(PWMOUT == 1)
back();
else
stop();
}
   ClosePWM();
}
/*转弯*/
if((k>102)&&(k<160))
{
ConfigPWM(100,temp);
for (i=0; i<400; i++)
{
if(PWMOUT == 1)
{go();leftstop();}
else
stop();
}
   ClosePWM();
}
if(k>180)
{
ConfigPWM(100,temp);
for (i=0; i<400; i++)
{
if(PWMOUT == 1)
{go();rightstop();}
else
stop();
}
   ClosePWM();
}
}

}

/* 配置并启动 PWM，fr-频率，dc-占空比 */
void ConfigPWM(unsigned int fr, unsigned char dc){
unsigned int high, low;
unsigned long tmp;

tmp = (11059200/12) / fr; //计算一个周期所需的计数值
high = (tmp*dc) / 100; //计算高电平所需的计数值
low = tmp - high; //计算低电平所需的计数值
high = 65536 - high + 12; //计算高电平的重载值并补偿中断延时
low = 65536 - low + 12;//计算低电平的重载值并补偿中断延时

HighRH = (unsigned char)(high>>8); //高电平重载值拆分为高低字节
HighRL = (unsigned char)high;
LowRH = (unsigned char)(low>>8); //低电平重载值拆分为高低字节
LowRL = (unsigned char)low;

TMOD &= 0xF0; //清零 T0 的控制位
TMOD |= 0x01; //配置 T0 为模式 1
TH0 = HighRH; //加载 T0 重载值
TL0 = HighRL;
ET0 = 1; //使能 T0 中断
TR0 = 1; //启动 T0
PWMOUT = 1; //输出高电平

}
/* 关闭 PWM */
void ClosePWM(){
TR0 = 0; //停止定时器
ET0 = 0; //禁止中断
PWMOUT = 1; //输出高电平

}
/* T0 中断服务函数，产生 PWM 输出 */
void InterruptTimer0() interrupt 1{
if (PWMOUT == 1){ //当前输出为高电平时，装载低电平值并输出低电平
      TH0 = LowRH;
      TL0 = LowRL;
      PWMOUT = 0;

}else{ //当前输出为低电平时，装载高电平值并输出高电平
      TH0 = HighRH;
      TL0 = HighRL;
      PWMOUT = 1;

}
}

void UARTInterrupt(void) interrupt 4
{
k=SBUF;
RI = 0;
SBUF= k;//???????????????
while(!TI);    //????????
TI=0;    //?????????

}