【正文】 [2] 謝自美 .電子線路綜合設(shè)計 [M].武漢：華中科技大學(xué)出版設(shè)， [3] 郁有文 ,常建 ,程繼紅 .傳感器原理及工程應(yīng)用 .[M].西安：西安電子科技大學(xué)出版社 ,第 2 版 , [4] Timothy , Moden Industrial Electronics[M].北京：科學(xué)出版社， 2020 [5] 童 詩白，華成英 .模擬電子技術(shù)基礎(chǔ) [M].北京：高等教育出版社， 2020 [6] 閆石 .數(shù)字電子技術(shù)基礎(chǔ) [M].北京：高等教育出版社， 1998 [7] 陳尚松，雷加，郭慶 .電子測量與儀器 [M].北京：電子工業(yè)出版社， 1998 A TractionControl System Based On MCU Li Weili （ School of Physics and Electrical Engineering, Anyang Normal University, Anyang, Henan 455002） Abstract： This system uses AT89C52 chip as a core and its rich resources to achieve a smart car with functions of detection， motion,control and others, meanwhile system will obtain the information for realtime display. In view of the reality of the system for working of the industry of robot along the line demand, we make a proper conduct of a simplified, Among them, they have a smart car. In the process, the smart car will automatically run along the black route and the distance of road line will be through system module and realtime transmission shows we can control the speed of smart car through the signal of PWM, In order to achieve the purpose, we have to design black wire and also with the purpose of making Dolly have the ability of realtime transmission of information to the control of system,and achieve functions of its run and turn very well we should design a more practical and reliable algorithm and program. Keywords: TractionControl 。 algorithm。驅(qū)動口設(shè)置 Y1 EQU Y2 EQU Z2 EQU 。左轉(zhuǎn)調(diào)整口 TR EQU 。停止指示燈 TLF EQU TRF EQU TRB EQU CLK BIT DAT BIT PWMH DATA 30H PWML DATA 31H 。計數(shù) YS DATA 33H 。定時器初始化設(shè)定值 TL1_D EQU 18H PWMH_D EQU 5 。******************************************** 。******************************************** ORG 0000H AJMP START ORG 000BH LJMP COUNT ORG 001BH LJMP DRIVING 。T0 工作于模式 2， T1 工作于模式 1 MOV TH1,0FcH MOV TL1,18H MOV TH0,0FFH MOV TL0,0FFH 。開中斷 SETB ET0 SETB EA SETB TR0 。初始化 BC7281 MOV TIMER,50 START_DELAY: MOV TIMER1,225 DJNZ TIMER1,$ DJNZ IMER,START_DELAY MOV R7,12H LCALL SEND_BYTE MOV R7,0C8H LCALL SEND_BYTE MOV DISP_0,0 MOV DISP_1,0 MOV DISP_2,0 MOV DISP_3,0 LCALL DISP MOV R7,15H 。顯示第四位 LCALL SEND_BYTE MOV A,DISP_3 ANL A,0FH ADD A,30H MOV R7,A LCALL SEND_BYTE 。初始化驅(qū)動端口 MOV YS,1 ACALL DELAY MOV PWMH,PWMH_D 第 18頁 MOV PWML,PWML_D 。設(shè)置計數(shù)值 SETB TR1 。**************************************************** 。**************************************************** XJ: 。讀入調(diào)整信號 ANL A,0F0H MOV B,A ANL A,0A0H CJNE A,0A0H,NEXT_XJ SJMP STOP NEXT_XJ: MOV A,B ANL A,50H CJNE A,50H,ZZ_1。是否左轉(zhuǎn) JB Z2,DTL JB Y1,YZ 。左轉(zhuǎn)程序 ZZ: MOV PWMH,PWMH_D CLR TR SETB TL 。小調(diào)整程序 CLR TL LJMP XJ DTL: MOV PWMH,PWMH_DD CLR TR SETB TL CLR TLF CLR TL_BACK_LED SETB TRF SETB TRB 第 19頁 LJMP XJ 。判斷是否調(diào)用大調(diào)整程序 CLR TRF CLR TRB SETB TLF SETB TL_BACK_LED MOV YS,01H 。小調(diào)整程序 LJMP XJ DTR: MOV PWMH,PWMH_DD CLR TL SETB TR CLR TRF CLR TLF SETB TL_BACK_LED LJMP XJ 。設(shè)置延時子程序外層嵌套 LCALL DELAY CLR RUNB CLR RUNF MOV R5,09H ZS_2: SETB ZS MOV YS,01H LCALL DELAY CLR ZS CLR ZS CLR ZS 第 20頁 CLR ZS MOV R4,03H ZS_1: MOV YS,0FFH LCALL DELAY DJNZ R4,ZS_1 DJNZ R5,ZS_2 SJMP $ 。保護現(xiàn)場 MOV TH1,TH1_D MOV TL1,TL1_D 。恢復(fù)現(xiàn)場 ,返回 RETI 。******************************************* 。******************************************* COUNT: PUSH ACC MOV A,DISP_0 MOV R7,15H 。顯示第二位 LCALL SEND_BYTE MOV A,DISP_1 ANL A,0FH ADD A,10H MOV R7,A LCALL SEND_BYTE MOV A,DISP_1 CJNE A,0AH,COUNT_BACK MOV DISP_1,0 MOV R7,15H 。顯示第三位 LCALL SEND_BYTE MOV A,DISP_2 ANL A,0FH ADD A,20H MOV R7,A LCALL SEND_BYTE MOV A,DISP_2 CJNE A,0AH,COUNT_BACK MOV DISP_2,0 MOV R7,15H 。************************************************ 。顯示第一位 LCALL SEND_BYTE MOV A,DISP_0 ANL A,0FH ADD A,0 MOV R7,A LCALL SEND_BYTE MOV R7,15H 。顯示第二位 LCALL SEND_BYTE MOV A,DISP_2 ANL A,0FH ADD A,20H MOV R7,A LCALL SEND_BYTE MOV R7,15H 。**************************************************** 。**************************************************** SEND_BYTE: CLR CLK SETB CLK WAIT: CLR CLK SETB CLK JB DAT,WAIT 第 23頁 CLR CLK SETB CLK JNB DAT,$ MOV R6,0 LOOP: MOV A,R7 JB ,SEND1 CLR DAT SJMP NEXT SEND1: SETB DAT NEXT: MOV A,R7 RL A MOV R7,A CLR CLK SETB CLK INC R6 CJNE R6,08H,LOOP SETB DAT RET END 第 24頁