811学习心得循迹小车

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811学习心得循迹小车 [复制链接]

拿到811也快一个月了，可我的心得还没写完800字呢，这不又来凑字数来了，奋斗了两周，我基于811控制的循迹小车终于基本完成了，先说说我的硬件部分吧，买了一个车底盘，电机驱动和传感器部分自己动手焊的，循迹部分没怎么弄好，但是幸好811有ADC，也能凑合着用。小车轨道是自己画的椭圆状的，能完成循迹，小车模样

循迹部分原理图电机驱动部分

下面是控制部分代码unsigned int abs(signed int xx)//将相互之间采回的电压差值转换成正数
{
  unsigned int yy;
  if(xx<0)
    yy=-xx;
  else
    yy=xx;
  return yy;
}
unsigned int find_min(unsigned int x1,unsigned int x2,unsigned int x3)//寻找哪两个传感器之间的差值最小，
                                                                      //从而判断是否有发生小偏
{
  unsigned int min;
  if(x1<=x2&&x1<=x3)
    min=1;//表示没偏
  if(x2<=x3&&x2<=x1)
    min=2;//向左有小偏
  if(x3<=x2&&x3<=x1)
    min=3;//向右有小偏
  return min;
}
void main()
{

  unsigned int i;
  unsigned long Value[3];//Value[0],Value[1],Value[3]分别对应左中右三个传感器对应电压
  unsigned int daLR,daLM,daMR;//三个传感器相互之间电压差值，以此判断是左偏还是右偏
  SysClockInt(); //时钟配置
  ADC_Init();//ADC  初始化'                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       
  PWMInit();//PWM初始化
 // timerInt();
  SysEnable();//设置控制减速电机IO口
  while(1)
  {
    ADC_Sample(Value);//开始采样
   
      for (i = 0;    i < 3;    i++)
        {
         Value = (Value * 3000) / 1024;       //   转换成电压值
        }
      daLR=abs(Value[0]-Value[2]);
      daLM=abs(Value[0]-Value[1]);
      daMR=abs(Value[1]-Value[2]);
     while(Value[0]>Value[1]&&Value[0]>Value[2])//说明小车向左出现大偏，
     {
      
        goleft();  //向左转   
       ADC_Sample(Value);            
       for (i = 0;    i < 3;    i++)
            {
              Value = (Value * 3000) / 1024;       //   转换成电压值
            }
            daLR=abs(Value[0]-Value[2]);
            daLM=abs(Value[0]-Value[1]);
            daMR=abs(Value[1]-Value[2]);
            if(find_min(daLR,daLM,daMR)==1)//如果转到中间的传感器正对黑线，跳出循环前进
              break;
         SysCtlDelay(30 * (TheSysClock / 3000));
     }
          while(Value[2]>Value[1]&&Value[2]>Value[0])//说明小车向右出现大偏，
     {
            goright();
            ADC_Sample(Value);            
            for (i = 0;    i < 3;    i++)
              {
                Value = (Value * 3000) / 1024;       //   转换成电压值
              }
            daLR=abs(Value[0]-Value[2]);
            daLM=abs(Value[0]-Value[1]);
            daMR=abs(Value[1]-Value[2]);
            if(find_min(daLR,daLM,daMR)==1)//如果转到中间的传感器正对黑线，跳出循环前进
              break;
            SysCtlDelay(30 * (TheSysClock / 3000));
       
     }
      switch(find_min(daLR,daLM,daMR))//判断是向左还是右出现小偏，或没偏
      {
        case 1:gostright(); break;
        case 2://向左出现小偏
          {
            while(find_min(daLR,daLM,daMR)!=1)//小车左转，直到中间传感器对准黑线
            {
              ADC_Sample(Value);            
              for (i = 0;    i < 3;    i++)
                {
                  Value = (Value * 3000) / 1024;       //   转换成电压值
                }
                daLR=abs(Value[0]-Value[2]);
                daLM=abs(Value[0]-Value[1]);
                daMR=abs(Value[1]-Value[2]);
                goleft();//左转
                SysCtlDelay(50 * (TheSysClock / 3000));
             }
          }      break;
        case 3:   
         {
            while(find_min(daLR,daLM,daMR)!=1)//小车右转，直到中间传感器对准黑线
            {
              ADC_Sample(Value);            
              for (i = 0;    i < 3;    i++)
                {
                  Value = (Value * 3000) / 1024;       //   转换成电压值
                }
                daLR=abs(Value[0]-Value[2]);
                daLM=abs(Value[0]-Value[1]);
                daMR=abs(Value[1]-Value[2]);
                goright();//右转
                SysCtlDelay(50 * (TheSysClock / 3000));
           }
         }     break;
      }
    SysCtlDelay(100 * (TheSysClock / 3000));
  }
   
}

常见泽1

图片用附件上传啊 很期待 不过现在看不了