自己制作的12电磁车

自己制作的12电磁车

本小车是自己找的实验室当中的废弃小车模型，第一次做材料有限，外观比较丑，而且比较笨重。
那个电磁传感器的原理图有一处错误，那个电容应该是与电感并联。
12还是用的51的最小系统，自己可以很好的找到。

插入链接与图片

图片:
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这个是ADC采集的程序

#include "ADC.h"
#include "intrins.h"unsigned int  AD_val[2];void AD_init();   //???AD
void serial_init();  
void delay(unsigned int a);
float AD_work(unsigned char channel);
unsigned int AD1_get(unsigned char channel);
unsigned int AD2_get(unsigned char channel);unsigned int AD1_get(unsigned char channel)//P1.1
{ADC_CONTR=0x88|channel; //??AD??1000 1000 ?POWER SPEED1 SPEED0 ADC_FLAG?? ADC_START CHS2 CHS1 CHS0 _nop_(); _nop_(); _nop_(); _nop_();  //???4?CPU?????,???????????ADC_CONTR ???while(!(ADC_CONTR&0x10)); //??????ADC_CONTR&=0xe7; //??AD??,ADC_FLAG?????0return(ADC_RES*4+ADC_RESL);//??AD?????10???(16??)
}unsigned int AD2_get(unsigned char channel)//P1.2
{ADC_CONTR=0x88|channel; //??AD??1000 1000 ?POWER SPEED1 SPEED0 ADC_FLAG?? ADC_START CHS2 CHS1 CHS0 _nop_();_nop_();_nop_();_nop_();  //???4?CPU?????,???????????ADC_CONTR ???while(!(ADC_CONTR&0x10)); //??????ADC_CONTR&=0xe7; //??AD??,ADC_FLAG?????0return(ADC_RES*4+ADC_RESL);//??AD?????10???(16??)
}unsigned int AD1_work(unsigned char channel)
{unsigned char i;for(i=0;i<100;i++) AD_val[0]+=AD1_get(channel); //??100?????(????)AD_val[0]/=100;return AD_val[0];
}unsigned int AD2_work(unsigned char channel)
{unsigned char i;for(i=0;i<100;i++) AD_val[1]+=AD1_get(channel); //??100?????(????)AD_val[1]/=100;return AD_val[1];
}void delay(unsigned int a) //???1ms
{unsigned int i;while (--a!=0)for(i=125;i>0;i--); //1T???i=600,??12T???i=125
}void AD_init()
{P1ASF=0x06; //P1?????????AD??ADC_RES=0; //??????????8?ADC_RESL=0; //??????????2?ADC_CONTR=0x80;//??AD??delay(2); //??1ms,?AD????
}void serial_init()
{PCON |= 0x80;		//????????SMODSCON = 0x50;		//8???,?????AUXR |= 0x04;		//???????????Fosc,?1TBRT = 0xFA;		//?????????????AUXR |= 0x01;		//??1?????????????????AUXR |= 0x10;		//??????????
}

这个是输出pwm的程序，是自己看着stc12c5a60s2的数据手册看着寄存器配置的，应为第一次写，不知道如何上传文件，只能这样。

#include "PWM.h"
#include "ADC.h"
#include "ZHUAN.h"#define PWM    60void time0init()
{TMOD |= 0x12;		//???????//TL1 = 0xA4;		//??????//TH1 = 0xFF;		//??????TH0=150;TL0=150;ET0=1;//ET1=1;TR0=1;//TR1=1;EA=1;
}void PWMinit()
{CMOD=0x04;CCON=0;CL=0;CH=0;CCAPM0=0x42;CCAPM1=0x42;CR=1;
}void sendPWM()
{
//		MOTOR(PWM+(int)TurnPWMOUT,PWM-(int)TurnPWMOUT);//	if(TurnPWMOUT<0)
//	{//CCAP0L  =   179;   //Set the initial value same as CCAP0H  P1.3  ×ó   CCAP0H  = 255-MOTOR((PWM-TurnPWMOUT1),0,255);//CCAP1L  =   128;   //Set the initial value same as CCAP0H   P1.4  ÓÒCCAP1H  = 255-MOTOR((PWM+TurnPWMOUT1),0,255);//	}
/*	else{//CCAP0L  =   179;   //Set the initial value same as CCAP0H  P1.3  ×ó   CCAP0H  = 255-MOTOR(PWM-(int)TurnPWMOUT,0,128);//CCAP1L  =   128;   //Set the initial value same as CCAP0H   P1.4  ÓÒCCAP1H  = 255-MOTOR(PWM+(int)TurnPWMOUT,0,128);
*/	
}int MOTOR(int DATE,int MIN,int MAX)
{if(DATE<MIN)   DATE=MIN;if(DATE>MAX)   DATE=MAX;return DATE;
}

这是转向的控制，也不是很好。

#include "ZHUAN.h"int TurnPWMOUT1;
signed int cha,sum;
float  cha1,sum1;
float TurnPWMOUT,error;
int SIGNTurnPWMOUT1=0;sbit led1=P1^6;
/*תÏòPID*/
void PID()
{AD_val[0]=AD1_work(0x01);AD_val[1]=AD2_work(0x02);cha=AD_val[0]-AD_val[1];sum=AD_val[0]+AD_val[1];cha1=cha;sum1=sum;error=cha1/sum1;TurnPWMOUT=Turn_P*error*100+SIGNTurnPWMOUT1;TurnPWMOUT1=TurnPWMOUT;/*if(TurnPWMOUT1<0)led1=0;elseled1=1;*/}

最后主程序

#include <stc12c5a.h>
#include <intrins.h>
#include "PWM.h"
#include "ADC.h"
#include "ZHUAN.h"
#include "stdio.h"sbit led=P1^0;
void main()
{	time0init();AUXR &= 0xBF;TMOD |= 0x12;TL1 = 0x08;		//??????TH1 = 0xD5;EA=1;ET1=1;TR1=1;PWMinit();//serial_init();AD_init();sendPWM();while(1){;}	
}void time_0() interrupt 1
{}void time_1() interrupt 3
{TL1 = 0x08;		//??????TH1 = 0xD5;//	AD_val[0]=AD1_get(0x01);
//	AD_val[1]=AD2_get(0x02);//	led=~led;/*delay(5);SBUF=AD_val[0];while(!TI);TI=0;
*/PID();sendPWM();
}