循跡小車程序

1、ORG0000HLJMPMAINORG000BHLJMPFUNORG0040HMAIN:MOVSP,#60HMOVTH0,#0D8H;定時10msMOVTL0,#0F0HMOVTMOD,#01HMOVIP,#02HMOVIE,#82HMOV08H,#0FHMOV31H,#00HSETBTR0MOVP1,#87H;初始化小車，使得小車一開始左轉(zhuǎn);MOVP3,#0F0H;傳感器清零，復位鍵置1SJMP$ORG00A0HFUN:PUSHACCPUSHPSWMOVPSW,#8MOVTH0,#0D8HMOVTL0,#0F0H;DJNZ30H,TSTDECR0CJNER0,#00H,FRUEETMOVR0

2、,#0FHSJMPTSTFRUEET:CJNER0,#0AH,CMPCMP:JCTSTMOV30H,#02HMOVA,P3CPLA;取反p3口的數(shù)據(jù)，使得信息和給予分析的一致ANLA,#1FHJB,ST;由于p3口的取反，使得原來的“0”信號變?yōu)椤?”信號判斷CJNEA,#00H,NEXT0;判斷及調(diào)用功能SJMPLEFTNEXT0:CJNEA,#01H,NEXT1SJMPUPNEXT1:CJNEA,#02H,NEXT2SJMPLEFTNEXT2:CJNEA,#03H,NEXT3SJMPLEFTNEXT3:CJNEA,#04H,NEXT4SJMPSTNEXT4:CJNEA,#05H,NEXT5

3、SJMPUPNEXT5:CJNEA,#06H,NEXT6SJMPLEFTNEXT6:CJNEA,#07H,NEXT7SJMPLEFTNEXT7:CJNEA,#08H,NEXT8SJMPRIGHTNEXT8:CJNEA,#09H,NEXT9SJMPRIGHTNEXT9:CJNEA,#0AH,NEXTASJMPLEFTNEXTA:CJNEA,#0BH,NEXTBSJMPSTNEXTB:CJNEA,#0CH,NEXTCSJMPRIGHTNEXTC:CJNEA,#0DH,NEXTDSJMPRIGHTNEXTD:CJNEA,#0FH,STMOVP1,31HSJMPOUTLEFT:MOVP1,#0A7HS

4、JMPOUTRIGHT:MOVP1,#9BHSJMPOUTUP:MOVP1,#97HSJMPOUTST:MOVP1,#00HMOV31H,P1SJMPOUTTST:MOVP1,#80HOUT:SETBPOPPSWPOPACCRETIENDL293D是步進電機驅(qū)動芯片L293D采用16引腳DIP封裝，其內(nèi)部集成了雙極型H-橋電路，所有的開量都做成n型。這種雙極型脈沖調(diào)寬方式具有很多優(yōu)點，如電流連續(xù)；電機可四角限運行；電機停止時有微振電流，起到“動力潤滑”作用，消除正反向時的靜摩擦死區(qū)：低速平穩(wěn)性好等。L293D通過內(nèi)部邏輯生成使能信號。H-橋電路的輸入量可以用來設置馬達轉(zhuǎn)動方向，使能信號可以用于

5、脈寬調(diào)整（PWM）。另外，L293D將2個H-橋電路集成到1片芯片上，這就意味著用1片芯片可以同時控制2個電機。每1個電機需要3個控制信號EN12、IN1、IN2,其中EN12是使能信號，IN1、IN2為電機轉(zhuǎn)動方向控制信號，IN1、IN2分別為1，0時，電機正轉(zhuǎn)，反之，電機反轉(zhuǎn)。選用一路PWM連接EN12引腳，通過調(diào)整PWM的占空比可以調(diào)整電機的轉(zhuǎn)速。選擇一路I/O口，經(jīng)反向器74HC14分別接IN1和IN2引腳，控制電機的正反轉(zhuǎn)main()P1=0x40;P3=0xff;high=80;low=30;flag=0;time=50;Start();while(1)P3|=0x0f;Run();Start()charexit,key;exit=1;while(exit)key=P1;if(key&0x40)=0)exit=0;Run()charsensors;sensors=(P3&=0x0f);if(sensors&0x04)=0)TurnRight();flag=1;elseif(sensors&0x02)=0)TurnLeft();flag=2;elseif(sensors=0x