test.c

/**
*
*@file      
*
*@brief    Automatic Infrared Tracking Car \n
*
*@author   <邝晨阳>
*
*@date     <2018/11/9>
*
*@version  1.0
*
*@end
*/

#include "reg52.h"
#include "math.h"

typedef unsigned char u8;
typedef unsigned int u32;

u8 count = 0;
u8 channel, pct;
u8 time;

/**
*  Motor drive IO port and ENA, ENB enable terminal definition; 
*  IN1&IN2 control left motor; IN3&IN4 control right motor; 
*/ 
sbit IN1 = P2^3;
sbit IN2 = P2^4;
sbit ENB = P2^5;
sbit IN3 = P2^1;
sbit IN4 = P2^2;
sbit ENA = P2^0;

/**
*  Infrared tracking module definition 
*/
sbit left   = P3^1;
sbit middle = P3^2;  //externel interruption reserved
sbit right  = P3^3;


/**
*@brief Delay func. definition
*/
void delay_us(u8 a) //Millisecond
{
	while (a--);
}
void delay(u8 z)    //Microseconds
{
	u8 x, y;
	for (x = z; x > 0; x--)
	   for (y = 110; y > 0; y--);
}


void init()
{
	TMOD = 0x01;      //Timer 0 working mode 1
	 TH0 = 0xff;      //(65536-10)/256;          //Initial value timing
	 TL0 = 0xf7;      //(65536-10)%256;          //0.01ms
	 EA  = 1;         //Open total interruption
	 ET0 = 1;         //Open timer 0 interrupt
	 TR0 = 1;         //Start timer 0
}


/**
*@defgroup
*
*@brief Speed control using Timer0;
*@{
*   Value:    -255  ~  255
*    Mode: backward ~ forward
*@}
*@end
*/
void spdctrl(char ch, int spdvalue)
{
	if (spdvalue == 0)
	{
			ENA = 0;
			ENB = 0;
	}
	
	else if (ch == "ENA")
	{
			if (spdvalue > 0)
			{
					IN1 = 1;
					IN2 = 0;
			}
			else
			{
					IN1 = 0;
					IN2 = 1;
			}
	}
	
	else if (ch == "ENB")
	{
			if (spdvalue > 0)
			{
					IN3 = 1;
					IN4 = 0;
			}
			else
			{
					IN3 = 0;
					IN4 = 1;
			}
	}
}

/** 
*
*@brief Mode definition, associated with function 'spdctrl()';
*
*@end
*/
void workMode(int value_A, int value_B)
{
	init();
	spdctrl("ENA", value_A);
	spdctrl("ENB", value_B);
}




void track()
{
	if (left == 0)          //Returns 0 while checking out black lines 
		workMode(80, 20);
	if (right == 0)
		workMode(20, 80);
}



void main()
{
	int i;
	
	EA = 1;      //Total interruption opened 
	EX1 = 1;     //Open INT1
	
	while (count <= 18)
	{
		track();
		
		if (middle == 0)
			IT1 = 1;     //Set the falling edge trigger
		
		
		switch (count)
		{			
			case 1: 	workMode(80, 20); 
								break;
		
			case 2:		
				
			case 5:		
				
			case 8: 	workMode(80, 80); 
								break;
		
			case 3: 	workMode(80, 80); 
								workMode(100, -80);
								break; 
		
			case 4: 	workMode(20, 80);
								break; 
		
			case 7: 	workMode(80, 20);
								break; 
		
			case 12:	workMode(80, 80); 
								workMode(-80, 100);
								break; 
		
			case 13: 	workMode(20, 80);
								break; 
		
			case 14:	workMode(0, 0);
								break;
		}
	}
}

void Timer0() interrupt 1  //Timer 0 interrupt routine   //12MHz
{
	TR0 = 0;       //赋初值时，关闭定时器
	TH0 = 0xff;    //(65536-10)/256;         //赋初值定时
	TL0 = 0xf7;    //(65536-10)%256;         //0.01ms
	TR0 = 1;       //打开定时器
 
	time++;
	if (time >= 100)  //Guaranteed frequency is 1kHZ    //freq = 1s/(0.01ms * 100)
	  time = 0; 
	
	if (time <= pct)   //Duty cycle at pct% and can be changed
	  channel = 1;  
	else channel = 0;
}

void lineCounter() interrupt 2  //External interrupt for counting 
{
	while (!middle)
		tracking();
	count++;
}