【正文】 OP K9: CJNE A,40H,K10 。紅外傳感器，小車左轉(zhuǎn) MOV PWMH1,20H MOV PWMH2,50H LCALL DELAY MOV PWMH1,50H MOV PWMH2,50H LCALL DELAY LCALL DELAY MOV PWMH1,50H MOV PWMH2,20H LCALL DELAY SJMP xp。***************************************** K10: CJNE A,80H,XP1 。紅外傳感器，小車右轉(zhuǎn) MOV PWMH1,50H MOV PWMH2,20H LCALL DELAY MOV PWMH1,50H MOV PWMH2,50H LCALL DELAY LCALL DELAY MOV PWMH1,20H MOV PWMH2,50H LCALL DELAY SJMP xp 。顯示XIANSHI: LCALL CALCULATE 。計(jì)數(shù)速度 LCALL L2 LCALL DISPLAY 。顯示 SJMP LOOPINTT1: CLR TR0 MOV 51H,TH1 MOV 52H,TL0 MOV 50H,0 MOV TH1,15H 。定時(shí) 60ms MOV TL1,0A0H SETB TR1 RETIINTT1: MOV TH1,15H 。賦初值 MOV TL1,0A0H DJNZ 50H,EXIT 。15次完后 CLR TR0 。關(guān)閉定時(shí)器 0 MOV 51H,TH0 MOV 52H,TL0 。讀計(jì)數(shù)值 MOV 50H,15 MOV TH0,0 。重新賦為 0，又從 0開(kāi)始計(jì)數(shù) MOV TL0,0 SETB TR1 。啟動(dòng)定時(shí)器 1 EXIT: RETI 。************************** 。 計(jì)算速度 。************************* DISPLAY: LCALL CALCULATE 。計(jì)數(shù)速度 LCALL L2 LCALL DISPLAY 。顯示 SJMP LOOPINTT1: CLR TR1 MOV 51H,TH1 MOV 52H,TL0 MOV 50H,0 MOV TH1,15H 。定時(shí) 60ms MOV TL1,0A0H SETB TR0 RETIINTT1: MOV TH1,15H 。賦初值 MOV TL1,0A0H DJNZ 50H,EXIT 。15次完后 CLR TR0 。關(guān)閉定時(shí)器 0 MOV 51H,TH0 MOV 52H,TL0 。讀計(jì)數(shù)值 MOV 50H,15 MOV TH0,0 。重新賦為 0，又從 0開(kāi)始計(jì)數(shù) MOV TL0,0 SETB TR1 。啟動(dòng)定時(shí)器 0 EXIT: RETI 。************************** 。 計(jì)算速度 。************************* CALCULATE:MOV A,52H 。； MOV B,2 MUL AB MOV B,10 DIV AB MOV R1,A MOV A,52H CLR C SUBB A,R1 。將速度的個(gè)位和十位拆開(kāi) MOV 55H,A MOV B,10 DIV AB MOV 40H,A MOV 41H,B RET 。*************************************中斷程序 INTT0: PUSH PSW ?，F(xiàn)場(chǎng)保護(hù) PUSH ACC INC COUNTER 。計(jì)數(shù)器加 1 MOV A,COUNTER CJNE A,PWMH1,INTT00 。如果等于高電平脈沖數(shù) CLR EN1 。INTT00: CJNE A,PWMH2,INTT01 CLR EN2 。INTT01: CJNE A,PWM,INTT02 。如果等于周期數(shù) MOV COUNTER,01H 。計(jì)數(shù)器復(fù)位 SETB EN1 。置 SETB EN2 DJNZ R6,INTT02 DJNZ R7, FUZHIINTT02: POP ACC 。出棧 POP PSW MOV R7,25FUZHI: MOV R6,200 RETI 。************************************ 延時(shí)子程序 DELAY: MOV R3,50DL1: MOV R4,20DL2: MOV R5,248 DJNZ R5,$ DJNZ R4,DL2 DJNZ R3,DL1 RET END附件 2 硬件電路圖 1 2GND7VCC14U1A74ALS043 4U1B74ALS04VS4INPUT 15 INPUT 27ENABLE A6INPUT 310 INPUT 412ENABLE B11GND8VSS 9OUTPUT 1 2OUTPUT 2 3OUTPUT 3 13OUTPUT 4 14SENSE A 1SENSE B 15U2L298D1DIODED2DIODED3DIODED4DIODED6DIODE D7DIODED8DIODE D9DIODEC2100FC1103VCC12V1234J3CON412VPWM1PWM212VVCCC3100uFC4103R1 IN13 R2 IN8T1 IN11 T2 IN10GND15V+2V6VCC16R1 OUT 12R2 OUT 9T1 OUT 14T2 OUT 7C1+1 C1 3 C2+ 4C2 5U4232P31E41UFE3 IUFE2 IUFE1 1UFP30VCC VCC162738495J8DB9C5 20PC6 20P+C722uR210KVCCS2 REST9 RXD10TXD11 INT012INT113 T014T115 WR16RD17 XTAL218XTAL119 GND20 24 27 28PSEN29ALE/P 30EA/VP 33 36 39VCC 40U3AT89S51192837465RP110K復(fù) 位MCUVCCP15P16P17P33P36P10P11P12P13P14P30P31P32P34P35P37P00P01P02P03P04P05P06P07RESTP26P27PWM1PWM2INPUT1INPUT2P24P25P30P31P32P33P34P35P36P37VSS1 VDD2VO3 RS4R/W5 E6D07 D18D29 D310D411 D512D613 D714BLA15 BLK16J416*2動(dòng)動(dòng)VCCP00P01P02P03P04P05P06P07R420 1/2WVCC11 3 3W2R310K P27P26P2512345678J6CON812345678J5CON812345678J7CON8PWM1PWM2INPUT1INPUT2P24P25P26P27P10P11P12P13P14P15P16P1712J1CON2S1SWSPSTD5LEDR11KC9103C8100uFVCCVCC12J2CON212VINPUT2INPUT1硬件電路圖附件 3． 電路 PCB圖信號(hào)采集電路單片機(jī)小系統(tǒng)電路電機(jī)驅(qū)動(dòng)電路驅(qū)動(dòng)電路實(shí)物圖附