關(guān)于avr單片機(jī)實(shí)驗(yàn)器及教學(xué)機(jī)器人pwm調(diào)速程序

單片機(jī)實(shí)驗(yàn)器及教學(xué)機(jī)器人的電機(jī)調(diào)速源程雙龍電子的-DIY系列單片機(jī)實(shí)驗(yàn)器及教學(xué)機(jī)器人,可以采用多種編寫電機(jī)調(diào)速源程序現(xiàn)在以-DIY0-8A/S-DIY0-8/SL-DIY0-16單片機(jī)實(shí)驗(yàn)器及教學(xué)機(jī)器人為例說明,該機(jī)可以采用模塊化圖形化SLASIC/SLOBOTC流程圖、模塊化解釋型語言、C 、、-VR等高級語言及單片機(jī)匯編語言目前提供電機(jī)調(diào)速源程序如下用模塊化圖形化SLBASIC流程圖編寫調(diào)用模塊化SLBASIC解釋型語言編寫調(diào)用模塊化圖形化SLROBOTC流程圖編寫調(diào)用模塊化SLROBOTC解釋型語言編寫調(diào)ICC-AVRADCICC-AVRGCC-AVRTimerGCC-AVRTimer詳細(xì)資料在這里單片機(jī)實(shí)驗(yàn)器及教學(xué)機(jī)器人的電機(jī)調(diào)速源程用模塊化圖形化SLBASIC流程圖編 調(diào)用模塊化SLBASIC解釋型語言編 調(diào)程序例10REM ;20REM"MOTOR ;30REMWAIT 40REM"MOTOR ;50REMWAIT ;60REM"GOTO ;程序例10REM ;SLBASIC20REM"FORA=-255TO ;輸入馬達(dá)參{{30REM"MOTORA,-;40REM"WAIT;50REM"NEXT;60REM"MOTOR;70REM"GOTO;用模塊化圖形化SLROBOTC流程圖編 調(diào)用模塊化SLROBOTC解釋型語言編 調(diào)程序例 /*SLROBOT文件頭*/ /*無限循環(huán) /*延時1000ms*/ /*延時4000ms*/} 程序例 /*SLROBOT文件頭*/ /*無限循環(huán){ /*設(shè)變量a部初值*/ /*如果a<=255循環(huán)*/{motor(a,-a);*電機(jī)參數(shù)初值*/wait(3);/*延時30ms*/}motor(0,0);/*電機(jī)停} 用ICC-AVR的ADC控制教學(xué)機(jī)器人上直流電機(jī)的無級調(diào)速程序PC.0位的微調(diào)電位器作為無級調(diào)速)SL-DIY02-8ASL-DIY08-16單片機(jī)開發(fā)//// 廣州天河雙龍電子公 // // // 作者 // // 目標(biāo) 晶振：外部 ////ICC-//小車進(jìn)、后退、右轉(zhuǎn)、左傳狀態(tài)下循環(huán)動unsignedintadc_rel;//ADvoidtimer1_init(void}}{TCCR1B=TCNT1=TCCR1A=TCCR1B= }//ADCvoid{ADCSRA0x00;ADMUX=(1<<REFS0);//選擇AVCC為基準(zhǔn)，單端輸為ADC0 =(1<<ACD);//關(guān)閉模擬比較器,位P148ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADIE)|(1<<S1);//ADC時鐘64分}#pragmainterrupt_handleradc_isr:22voidadc_isr(void){ADMUX=(1<<REFS0);//選擇AVCC為基}voidPortInit(void)//D}voidonward(void)/{unsignedinttim=0; { }}voidback(void)/{unsignedinttim=0; {}{ }}voidleft(void)/{unsignedinttim=0; { }}voidright(void)//{unsignedinttim=0; {}{ }}void{unsignedinti;{onward();//前進(jìn) right();//右轉(zhuǎn) }}用ICC-AVR按鍵控制教學(xué)機(jī)器人上直流電機(jī)的調(diào)速程序SL-DIY08-8單片機(jī)開發(fā)實(shí)驗(yàn)器及教學(xué)機(jī)器人上用按鍵(INT0INT1)控制教學(xué)機(jī)器人上直流電機(jī)的調(diào)速,并采用ICC-AVR高級語言編程。AVR單片機(jī)PC口上接了多種傳感器,用于尋黑線、避、避懸崖。SL-DIY02-8ASL-DIY08-16單片機(jī)開發(fā)實(shí)驗(yàn)器及教學(xué)機(jī)器人上移植使用。//// 廣州天河雙龍電子公 // //***實(shí)驗(yàn)2：按鍵控制教學(xué)機(jī)器人速度以及PC口傳感器的應(yīng) // 作者 // 2006年8月1 // 目標(biāo) 晶振：外部 ////ICC-//PC0、PC4分別接水平紅外傳感，當(dāng)兩邊有物時后退轉(zhuǎn)//PC2接微動開關(guān)傳感器，當(dāng)撞上物時后退轉(zhuǎn)TIMER0unsignedint voiddelay_us(inttime){{}while} voiddelay_ms(unsignedinttime){{}}voidtimer0_init(void{TCCR0B=TCNT0=TCCR0A=TCCR0B= //32}voidPortInit(void)//C、D}voidonward(void)/{ {}while(tim>=speed){}}voidback(void)/{while(tim<speed){}{{{}}voidleft(void)/{ {}{}}voidright(void)//{while(tim<speed){}}}void{unsignedinti;{{{}{}{}}{if((PIND&(1<<PD2))==0)PD20INT0{}}}}}用一Timer。SL-DIY08-8單片機(jī)開發(fā)實(shí)驗(yàn)器及教學(xué)機(jī)器人電機(jī)調(diào)速演示，MOTORSLRobotC//// 廣州天河雙龍電子公 // // // 作者 // 2006年8月1 // 目標(biāo) 晶振：外部 ////此程序用于演示小車的功#include<avr/io.h>#include<avr/interrupt.h>#define #define #define typedefstructstruct_Sw{unsignedcharport;unsignedcharpin;unsignedcharduty;unsignedcharsetduty;}Sw//numberofchannels#defineSW_NUM_CHANNELS2SwChannelTypeSwChannels[SWunsignedchar _init(void)//初始化,Timer{unsignedcharfor(index=0;index<SW_NUM_CHANNELS;{SwChannels[index].duty=0;SwChannels[index].setduty=0;}TCCR2A=0x00;TCCR2B=(1<<CS22);TCNT2=0;TIMSK2=PosTics=0;sei();} {TCCR2B=TIMSK2&=} _SetChannelIO(unsignedcharunsignedcharport,unsignedcharpin,unsignedchar{SwChannels[channel].port=port; =pin&0x07;SwChannels[channel].setduty=duty;}ISR(SIG_OVERFLOW2){unsignedcharnextTics=0xff;unsignedcharindex;for(index=0;index<SW_NUM_CHANNELS;{SwChannels[index].duty=SwChannels[index].setduty;{nextTics=MIN(nextTics,Swswitch(SwChannels[index].port)case'B': PORTB|=(1<<SwChannels[index].pin);break;case'C': PORTC|=(1<<SwChannels[index].pin);break;case'D': PORTD|=(1<<SwChannels[index].pin);break;}}}if(nextTics!={PosTics=OCR2A=}}ISR PARE2A)//每周期,此中斷一般發(fā)生２次,一次左路一次右路//如果左右值相等的話,每周期,此中斷發(fā)生1{unsignedcharnextTics=0xff;unsignedcharindex;for(index=0;index<SW_NUM_CHANNELS;{if(Sw{ {switch(SwChannels[index].port)case'B': PORTB&=~(1<<SwChannels[index].pin);break;case'C': PORTC&=~(1<<SwChannels[index].pin);break;case'D': PORTD&=~(1<<SwChannels[index].pin);break;}}}if(SwChannels[index].duty>nextTics=MIN(nextTics,SwChannels[index].duty-}if(nextTics!={if(nextTics{PosTics+=OCR2A=}}}voidMOTOR(intl_motor,int{ intl_motor,r_motor;unsignedcharl_pin,r_pin;unsignedcharl_duty,r_duty; unsignedchar PORTD&=if((l_motor==0)&&(r_motor=={PORTD&=}if(l_motor>0){l_pin=5;}else{l_pin=4;}if(r_motor>0){r_pin=7;}else{r_pin=6;l_motor=ABS(l_motor);r_motor=l_duty=r_duty=if((l_motor>=4)&&(l_motor<=251)){l_duty=l_motor;}if((r_motor>=4)&&(r_motor<=251)){r_duty=r_motor;if((l_motor>251)){PORTD|=(1<<l_pin);}if((r_motor>251)){PORTD|=(1<<r_pin);if((l_duty!=0)||(r_duty!=0){if(l_duty){ _SetChannelIO(0,'D',l_pin,l_duty);}if(r_duty) _SetChannelIO(1,'D',r_pin,}}voidmydelay_loop_2(unsignedint{{}}voidWAIT(int{unsignedinti;for(i=0;i<val;i++){}}int{{}}用GCC-AVR教學(xué)機(jī)器人上直流電機(jī)的調(diào)速程序，不用中斷實(shí)現(xiàn)，不占用TimerSL-DIY08-8FD，BK，LT，RT語句，執(zhí)行//// 廣州天河雙龍電子公 // // // 作者 // 2006年8月1 // 目標(biāo) 晶振：外部 ////此程序用于演示小車的功//gcc#include<inttypes.h>#include<avr/io.h>#include<avr/delay.h>voiddelayus(unsigned{

_delay_loop_2(}void{/*unsignedcharPortD_ch=PORTD;PortD_ch|=(1<<5)|(1<<7);PortD_ch&=~((1<<4)|(1<<6));PORTD=PortD_ch;}void{/*unsignedcharPortD_ch=PORTD;PortD_ch|=(1<<4)|(1<<6);PortD_ch&=~((1<<5)|(1<<7));PORTD=PortD_ch;}void{/*unsignedcharPortD_ch=PortD_ch|=PortD_ch&=PortD_ch|=PortD_ch&=~(1<<6);PORTD=PortD_ch;}void{/*unsignedcharPortD_ch=PortD_ch|=PortD_ch&=PortD_ch|=PortD_ch&=PORTD=}void{PORTD&=}voidFD(unsignedintval1,unsignedchar{unsignedintwait1;unsignedintwait2;wait1=val2<<3;wait2=(256-val2)<<3;//wait1+wait2=256,256*8=2048us,周期約2ms,頻率intfor(i=0;i<val1;{}}voidBK(unsignedintval1,unsignedchar{unsignedintwait1;unsignedintwait2;wait1=val2<<3;wait2=(256-val2)<< //wait1+wait2=256,256*8=2048us,周期約2ms,頻率intfor(i=0;i<val1;{}}voidLT(unsignedintval1,unsignedchar{unsignedintwait1;unsignedintwait2;wait1=val2<