自动循迹小车原理图

#include #include "qudong.h" #include "duankou.h" #include "lcd1602.h" #include "celv.h" #define uchar unsigned char #define uint unsigned int #define CPU_F ((double)8000000) #define delay_us(x) __delay_cycles((long)(CPU_F*(double)x/1000000.0)) #define delay_ms(x) __delay_cycles((long)(CPU_F*(double)x/1000.0)) //****************************************************************************** //全局变量 //****************************************************************************** float voltage=6.0; //实际电压值 int RS1=100; int LS1=100; int RS0=100; int LS0=100; char heixian=0x03; //不等于0x03表示检测到信号，等于0x03表示没检测到信号 char ji_shu=0; //表示第几次检测到黑线 char youxinhao=0; //=1表示检测到信号，=0表示没有检测到信号 uint total_time_count=0;//时间相关变量 uint start_low_speed=0; uint end_low_speed=0; uint end_all=0; uint start_all=0; uint LM_cap_new=0; //测速相关变量 uint LM_cap_old=0; uint LM_cap_count=0; uint LM_mai_kuai=0; float real_LM_speed=0.0; float top_speed=0; float average_speed=0; uint RM_cap_new=0; uint RM_cap_old=0; uint RM_cap_count=0; uint RM_mai_kuai=0; float real_RM_speed=0.0; float total_distance=0; //测量值转化为实际值相关变量 float dis1=0; float dis0=0; uint low_speed_time=0; uint total_time=0; //****************************************************************************** //系统时钟初始化，aclk=32768k,mclk=XT2,SMCLK = XT2。 //****************************************************************************** void Init_clock(void) { DCOCTL = DCO0 + DCO1 + DCO2; // Max DCO数字晶振最高频率 BCSCTL1 = RSEL0 + RSEL1 + RSEL2; // XT2on, max RSEL选择高速晶振最高频率 BCSCTL2 |=SELM_2+SELS; //MCLK=8M,SMCLK = XT2,系统主时钟选择高速晶振 do //清除振荡器失效标志，等振荡器稳定。 { IFG1&=~OFIFG; for(unsigned int i=0XFF;i>0;i--); } while((IFG1&OFIFG)!=0); } #pragma vector=ADC_VECTOR //ADC12 interrupt service routine __interrupt void ADC12_ISR (void) { if(ADC12MEM0<2816)P6OUT&=~BIT3; //欠压指示灯亮 else P6OUT|=BIT3; } //*************************