目录

循迹小车 

1. 循迹模块使用

2. 循迹小车原理

3. 循迹小车开发和调试代码

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循迹小车 

1. 循迹模块使用

• TCRT5000传感器的红外发射二极管不断发射红外线
• 当发射出的红外线没有被反射回来或被反射回来但强度不够大时
• 红外接收管一直处于关断状态，此时模块的输出端为高电平，指示二极管一直处于熄灭状态
• 被检测物体出现在检测范围内时，红外线被反射回来且强度足够大，红外接收管饱和
• 此时模块的输出端为低电平，指示二极管被点亮
• 总结就是一句话，没反射回来，D0输出高电平，灭灯

接线方式

• VCC:接电源正极（3-5V）
• GND:接电源负极 DO:TTL开关信号输出0、1
• AO:模拟信号输出(不同距离输出不同的电压，此脚一般可以不接）

2. 循迹小车原理

由于黑色具有较强的吸收能力，当循迹模块发射的红外线照射到黑线时，红外线将会被黑线吸收，导致 循迹模块上光敏三极管处于关闭状态，此时模块上一个LED熄灭。在没有检测到黑线时，模块上两个LED常亮

总结就是一句话，有感应到黑线，D0输出高电平 ，灭灯

3. 循迹小车开发和调试代码

//main.c
#include "motor.h"
#include "delay.h"
#include "uart.h"
#include "time.h"
#include "reg52.h"
extern char speedLeft;
extern char speedRight;sbit leftSensor = P2^7;
sbit rightSensor = P2^6;void main()
{Time0Init();Time1Init();//UartInit();while(1){if(leftSensor == 0 && rightSensor == 0){speedLeft = 32;speedRight = 40;}if(leftSensor == 1 && rightSensor == 0){speedLeft = 12;//10份单位时间全速运行，30份停止，所以慢，20ms是40份的500usspeedRight = 40;}if(leftSensor == 0 && rightSensor == 1){speedLeft = 32;speedRight = 20;}if(leftSensor == 1 && rightSensor == 1){//停speedLeft = 0;speedRight = 0;}}
}//motor.c
#include "reg52.h"sbit RightCon1A = P3^2;
sbit RightCon1B = P3^3;sbit LeftCon1A = P3^4;
sbit LeftCon1B = P3^5;void goForwardLeft()
{LeftCon1A = 0;LeftCon1B = 1;
}void stopLeft()
{LeftCon1A = 0;LeftCon1B = 0;
}void goForwardRight()
{RightCon1A = 0;RightCon1B = 1;
}
void stopRight()
{RightCon1A = 0;RightCon1B = 0;
}void goForward()
{LeftCon1A = 0;LeftCon1B = 1;RightCon1A = 0;RightCon1B = 1;
}void goRight()
{LeftCon1A = 0;LeftCon1B = 1;RightCon1A = 0;RightCon1B = 0;
}void goLeft()
{LeftCon1A = 0;LeftCon1B = 0;RightCon1A = 0;RightCon1B = 1;
}void goBack()
{LeftCon1A = 1;LeftCon1B = 0;RightCon1A = 1;RightCon1B = 0;
}void stop()
{LeftCon1A = 0;LeftCon1B = 0;RightCon1A = 0;RightCon1B = 0;
}//delay.c
#include "intrins.h"void Delay1000ms()		//@11.0592MHz
{unsigned char i, j, k;_nop_();i = 8;j = 1;k = 243;do{do{while (--k);} while (--j);} while (--i);
}//time.c
#include "motor.h"
#include "reg52.h"char speedLeft;
char cntLeft = 0;char speedRight;
char cntRight = 0;void Time1Init()
{//1. 配置定时器1工作模式位16位计时TMOD &= 0x0F;TMOD |= 0x1 << 4;//2. 给初值，定一个0.5出来TL1=0x33;TH1=0xFE;//3. 开始计时TR1 = 1;TF1 = 0;//4. 打开定时器1中断ET1 = 1;//5. 打开总中断EAEA = 1;
}void Time0Init()
{//1. 配置定时器0工作模式位16位计时TMOD = 0x01;//2. 给初值，定一个0.5出来TL0=0x33;TH0=0xFE;//3. 开始计时TR0 = 1;TF0 = 0;//4. 打开定时器0中断ET0 = 1;//5. 打开总中断EAEA = 1;
}void Time1Handler() interrupt 3
{cntRight++;  //统计爆表的次数. cnt=1的时候，报表了1//重新给初值TL1=0x33;TH1=0xFE;//控制PWM波if(cntRight < speedRight){//右前进goForwardRight();}else{//停止stopRight();}if(cntRight == 40){//爆表40次，经过了20mscntRight = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s}}void Time0Handler() interrupt 1
{cntLeft++;  //统计爆表的次数. cnt=1的时候，报表了1//重新给初值TL0=0x33;TH0=0xFE;//控制PWM波if(cntLeft < speedLeft){//左前进goForwardLeft();}else{//停止stopLeft();}if(cntLeft == 40){//爆表40次，经过了20mscntLeft = 0;  //当100次表示1s，重新让cnt从0开始，计算下一次的1s}}