16
第5章、附录
1、程序清单
CCON DATA 0D8H CMOD DATA 0D9H CCAPM0 DATA 0DAH CCAPM1 DATA 0DBH CCAPM2 DATA 0DCH CCAPM3 DATA 0DDH CCAPM4 DATA 0DEH CL
DATA
0E9H CCAP0L DATA 0EAH CCAP1L DATA 0EBH CCAP2L DATA 0ECH CCAP3L DATA 0EDH CCAP4L DATA 0EEH CH
DATA
0F9H CCAP0H DATA 0FAH CCAP1H DATA 0FBH CCAP2H DATA 0FCH CCAP3H DATA 0FDH CCAP4H DATA 0FEH
ORG 0000H SJMP MAIN ORG 001BH ;定时入口 SJMP
SEPT0 ORG 0030H MAIN: JB
P3.2,MAIN SETB P3.7 SETB P3.6 SETB P2.3 CLR P1.0 MOV 20H,#00H MOV TMOD,#12H MOV CMOD,#04H MOV TH1,#3CH MOV
TL1,#0B0H
MOV TH0,#156 MOV TL0,#156 SETB EA SETB ET1 SETB TR1 SETB TR0 LCALL GO MOV P0,#71H X: LCALL LEFT LCALL RIGHT LCALL ZHONG LCALL DECIDE LJMP
X
SEPT0: MOV
TH1,#3CH
;巡检 MOV TL1,#0B0H CJNE A,#1,DJ1 LCALL RIGHT_P MOV P0,#0DH
RETI
DJ1: CJNE
A,#4,NEXT LCALL LEFT_P
MOV
P0,#99H
NEXT: RETI
LEFT: JNB P3.7,WU;左侧检测
SETB
00H
RET WU: CLR 00H RET
RIGHT:
JNB P2.3,WU1;右侧检测
SETB
01H
RET
WU1:
CLR 01H RET
17
ZHONG: JNB P3.6,WU2;中间检测 SETB 02H
RET
WU2:
CLR 02H RET
DECIDE: MOV A,20H
;判断
ANL A,#07H CJNE A,#00,BJ1 LCALL GO MOV P0,#71H
RET
BJ1: CJNE
A,#01,BJ2 LCALL RIGHT_L MOV P0,#25H RET BJ2: CJNE
A,#02,BJ3 MOV P0,#9FH LCALL LEFT_L RET BJ3: CJNE
A,#03,BJ4 LCALL GO MOV P0,#71H RET BJ4: CJNE
A,#04,BJ5 LCALL GO MOV P0,#71H RETI BJ5: CJNE
A,#05,BJ6 LCALL R MOV P0,#0DH RET BJ6: CJNE
A,#06,BJ7 LCALL L MOV P0,#0E3H
RET
BJ7: LCALL GO MOV
P0,#71H
RET
LEFT_L:LCALLSTOP ;驱动左直转
MOV
CCAPM1,#00H
MOV CCAPM4,#00H MOV CCAPM2,#42H MOV CCAPM3,#42H MOV CCON,#40H MOV CCAP2H,#125 MOV CCAP3H,#115
RET
RIGHT_L:LCALL STOP
MOV CCAPM2,#00H MOV CCAPM3,#00H MOV CCAPM1,#42H MOV CCAPM4,#42H MOV CCON,#40H MOV CCAP4H,#125 MOV CCAP1H,#115
RET
RIGHT_P:LCALL
STOP
MOV CCAPM1,#00H MOV CCAPM3,#00H MOV CCAPM2,#42H MOV CCAPM4,#42H MOV CCON,#40H MOV CCAP2H,#30 MOV CCAP4H,#30
RET
LEFT_P:LCALL STOP
MOV CCAPM1,#00H MOV CCAPM3,#00H MOV CCAPM2,#42H MOV CCAPM4,#42H MOV CCON,#40H MOV CCAP2H,#30 MOV CCAP4H,#30
RET R: LCALL STOP
MOV CCAPM2,#00H MOV CCAPM3,#00H MOV CCAPM1,#42H MOV CCAPM4,#42H
MOV
CCON,#40H
18
;右直转
;右偏;左偏
;右转
L: STOP:
SETB
P1.5
P1.4
SETB LCALL MOV MOV MOV MOV MOV MOV MOV RET
STOP
;左转
CCAPM1,#00H CCAPM4,#00H CCAPM2,#42H CCAPM3,#42H CCON,#40H CCAP2H,#125 CCAP3H,#115
MOV MOV RET
CCAP1H,#120 CCAP4H,#130
GO: LCALL
MOV MOV MOV MOV MOV MOV MOV RET END
STOP
;前进
CCAPM1,#00H CCAPM3,#00H CCAPM2,#42H CCAPM4,#42H CCON,#40H CCAP2H,#28 CCAP4H,#28
SETB SETB RET
P1.6 P1.7
2、原理图
(1)寻线模块
19
（2）驱动模块
20
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