#include<stc8a8k.h>
#include<oled.h>
#include<delay.h>
#include<stdio.h>
#include "hpwm.h"
//***************************************************************************下面是接线定义
//左电机
sbit LPWM=P2^0;//电机调节速度的信号
sbit LA2=P0^4;
sbit LA1=P0^5;
//右电机
sbit RPWM=P2^1;
sbit RA2=P0^6;
sbit RA1=P0^7;
//接传感器
sbit L1S=P1^0;
sbit L0S=P1^1;
sbit MS=P1^2;
sbit R0S=P1^3;
sbit R1S=P1^4;
//*************************************
sbit key=P3^4;//接按键
sbit beep=P0^3;//接蜂鸣器
sbit led=P0^0;//接LED报警灯//****************************************************************************下面是全局变量的定义，每个函数都能使用
//定义黑白线的信号，根据实际模块定义,1是高电平，0是低电平，后面如果换模块，
//不同模块的情况不一样，有些是碰到黑线是1，有些是0，就很容易修改
unsigned char blackline=1;
unsigned char whiteline=0;
unsigned char startflag=0;
//这里定义变量，后面如果小车需要调节速度，比较方便修改，直接改这里就好了。
float vleftmove=0.4;
float vrightmove=0.4;//直线行走的速度float vturnbig=0.55;
float vturnsmall=0.25;//转弯的速度差速度，一个是大，一个小，小转弯差速度float vturnbigM=0.75;
float vturnsmallM=0.1;//转弯的速度差速度，大转弯差速度unsigned int maichongnum=0;//脉冲个数
float zhouchang=2.04;//小车直径65mm,3.14*65=204.2mm=2.04cm
float distance=0.1;
unsigned int miao=0,fen=0,countT0num=0;unsigned char disbuf[9];//给显示用
//**************************************************************************************************下面是子函数的定义、或者声明
//循迹函数声明，先声明后定义，不然main都不知道有这个函数，在main函数后面定义具体程序代码
//****************************************************************子函数0：函数声明；void trackline0();
void trackline0();
//****************************************************************子函数1：qianjin(float vleft,float vright)
//这个是定义，不声明，后面main函数可以直接用,
//小车前进，根据速度两个轮子速度差，进行前进，转弯等
void qianjin(float vleft,float vright)
{HPWM_Set(0,8000,vleft);LA2=1;LA1=0;HPWM_Set(1,8000,vright);RA2=1;RA1=0;}
//****************************************************************子函数2：void back(float vleft,float vright)
//小车后退程序，一个轮子正转，一个反转
void back(float vleft,float vright)
{HPWM_Set(0,8000,vleft);LA2=0;LA1=1;HPWM_Set(1,8000,vright);RA2=1;RA1=0;}
//****************************************************************子函数3：void stop()
//小车停止
void stop()
{ LA2=0;LA1=0;RA2=0;RA1=0;
}
//*****************************************************************************************************下面是主函数
//*******************************************主函数
void main()
{//每个外设，比如按键，屏幕，PWM等内部资源的初始化，配置一下环境OLED_Init();HPWM_Init();OLED_ShowString(0,0,"Start,Please...");	//外部脉冲计算走过的距离，初始化//使能INT1中断//定时器0初始化，计算启动的之后运行的时间//5毫秒@11.0592MHzAUXR &= 0x7F;		//定时器时钟12T模式TMOD &= 0xF0;		//设置定时器模式TL0 = 0x00;		//设置定时初值TH0 = 0x4C;		//设置定时初值	TF0 = 0;		//清除TF0标志ET0 = 1;   EA=1;//*****************************************************************//*********************************************正式执行程序while(1){		OLED_ShowNum(0,4,miao,5,12);distance=maichongnum*0.05*zhouchang; sprintf(disbuf,"%0.2f",distance);OLED_ShowString(0,2, disbuf);	//*****************************//检测按键是不是按下，开始启动if(key==0){delay_tms(10);//延时去抖动if(key==0){	startflag=1;OLED_ShowString(0,0,"running,GO,GO...");	stop();delay_tms(2000);//延时,按下两秒之后，小车开始启动进行循迹OLED_Clear();IT1 = 1;                                    //使能INT1下降沿中断EX1 = 1;  TR0 = 1;		//定时器0开始计时}	}		//**********************如果开始标记等于1，说明按下启动键，这时候小车才开始跑if(startflag==1){//开始循迹，请看这部分代码,太长了，单独拉出来写，方便看主程序逻辑	trackline0();	}}
}//***********************************下面是前面声明的函数的定义
//**************************************************************//函数定义trackline0();
//**************************************************************功能：按键循迹；
void trackline0()
{
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第1种情况if(L1S==blackline &&L0S==whiteline  && MS==whiteline && R0S==whiteline&& R1S==whiteline)//1 0 0 0 0 {qianjin(vturnsmallM,vturnbigM);//左da转弯,转到碰到中线停止while(1){if(MS==blackline)break;}}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第2种情况else if(L1S==whiteline &&L0S==blackline  && MS==whiteline && R0S==whiteline&& R1S==whiteline)//0 1 0 0 0 {qianjin(vturnsmall,vturnbig);//左xiao转弯}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第3种情况else if(L1S==whiteline &&L0S==whiteline  && MS==blackline && R0S==whiteline&& R1S==whiteline)//00 1 0 0 {qianjin(vleftmove,vleftmove);//直走}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第4种情况	else if(L1S==whiteline &&L0S==whiteline  && MS==whiteline && R0S==blackline&& R1S==whiteline)//0 0 0 1 0 {qianjin(vturnbig,vturnsmall);//左xiao转弯vturnbig vturnsmall}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第5种情况else	if(L1S==whiteline &&L0S==whiteline  && MS==whiteline && R0S==whiteline&& R1S==blackline)//0 0 0 0 1{qianjin(vturnbigM ,vturnsmallM);//左da转弯vturnbigM  vturnsmallM,碰到黑线，不然一直大转弯while(1){if(MS==blackline)break;}}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第6种情况	else 	if(L1S==blackline && L0S==blackline && R1S==whiteline )//11xx0 判断是左转90度{stop();delay_tms(500);qianjin(vturnsmall,vturnbig);//左转弯delay_tms(100);while(1){		if(R0S==blackline)break;}	}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第7种情况else 	if( L1S==whiteline  &&R0S==blackline && R1S==blackline)//0xx11 判断是右转90度{stop();delay_tms(1000);qianjin(vturnbig,vturnsmall);//delay_tms(10);while(1)		 { if(L0S==blackline)break;}}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第8种情况else 	if(L1S==blackline &&L0S==blackline&& MS==blackline && R0S==blackline)//1111x 判断是终点，调头{qianjin(vleftmove,vleftmove);delay_tms(500);stop();delay_tms(1000);back(vleftmove,vleftmove);delay_tms(500);while(1)//如果中间的传感器碰到黑线，就跳出循环{		 if(MS==blackline)break;		}}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++第9种情况	这是极端情况，放在最后面判断else 	if(L1S==whiteline &&L0S==whiteline && MS==whiteline && R0S==whiteline && R1S==whiteline)//000找不到直线，如如果前面是直走，就转360度，如果是之前右边，就左转，之前左偏，就右转{qianjin(vturnbig,vturnsmall);//}}//****************************************************************************外部中断，测量脉冲
void INT1_Isr() interrupt 2 using 1
{maichongnum++;                               //测试端口}
//**************************************************************************定时1s,更新刷新屏幕数据
void TM0_Isr() interrupt 1 using 1
{TL0 = 0x00;		//设置定时初值TH0 = 0x4C;		//设置定时初值countT0num++;//50ms加一次if(countT0num==20)//1秒时间到{countT0num=0;miao++;if(miao==600)miao=0;	}		
}