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/* Dieu khien robot: tien-lui-trai-phai-len-xuong
Nhom : Nguyen Van Hao
Nguyen Binh Minh
//p0.0 dk role dong co sau 1
//p0.1 dk xung dong co sau 1+2
//p0.2 dk role dong co sau 2
//p0.3 dk role dong co xich
//p0.4 dk xung dong co xich */
#include <REGX51.H>
/* Dinh nghia cac nut nhan*/
#define data0 P1_0
#define data1 P1_1
#define data2 P1_2
#define data3 P1_3
bit PWM;
unsigned char dem=0;
unsigned int phantram_PWM=6;
/* Ham tao thoi gian tre*/
void delay(unsigned int t)
{
unsigned int i,j;
for(i=0;i<100;i++)
for(j=0;j<t;j++);
}
void khoitaohethong()
{
//ES=1;
EA=0;
TMOD=0x02; // che do 8 bit tu nap
TH0=0x9b; // nap gia tri 155 ma hex
TL0=0x9b;
EA=1;
TR0=1;
ET0=1;
}
/* Ngat tao ra PWM*/
void ngat_timer0(void) interrupt 1
{
TR0=0;
TF0=0;
dem++;
if(dem>=phantram_PWM)
{
PWM=1;
}
else
{
PWM=0;
}
if(dem>=12) dem=0;
TR0=1;
}
/* Ham dung dong co*/
void stopdc(void)
{
P0_0=1;
P0_1=1;
P0_2=1;
P0_3=1;
P0_4=1;
}
/* Ham chay tien*/
void ctien(void)
{
P0_0=1;
P0_1=PWM;
P0_2=1;
P0_2=1;
P0_4=1;
}
/* Ham chay lui*/
void clui(void)
{
P0_0=0;
P0_1=PWM;
P0_2=0;
P0_3=1;
P0_4=1;
}
/* Ham quay trai*/
void quaytrai(void)
{
P0_0=0;
P0_1=PWM;
P0_2=1;
P0_3=1;
P0_4=1;
}
/* Ham quay phai*/
void quayphai(void)
{
P0_0=1;
P0_1=PWM;
P0_2=0;
P0_3=1;
P0_4=1;
}
/* Ham leo len*/
void leolen(void)
{
P0_0=1;
P0_1=PWM;
P0_2=1;
P0_3=1;
P0_4=PWM;
}
/* Ham leo xuong*/
void leoxuong(void)
{
P0_0=1;
P0_1=1;
P0_2=1;
P0_3=0;
P0_4=PWM;
}
/* Ham dieu khien tang toc*/
unsigned char tangtoc(void)
{
if(data0==1&&data1==1&&data2==1&&data3==0)
{
while(data0==1&&data1==1&&data2==1&&data3==0)
{;}
phantram_PWM=phantram_PWM-2;
delay(100);
if(phantram_PWM<1)
phantram_PWM=2;
}
return (phantram_PWM);
}
/* Ham dieu khien giam toc*/
unsigned char giamtoc(void)
{
if(data0==0&&data1==1&&data2==1&&data3==1)
{
while(data0==0&&data1==1&&data2==1&&data3==1)
{;}
phantram_PWM=phantram_PWM+2;
delay(100);
if(phantram_PWM==12)
phantram_PWM=10;
}
return (phantram_PWM);
}
/* Lua chon che do cua dong co*/
void chonchedo(void)
{
stopdc();
//chay tien
while(data0==1&&data1==0&&data2==0&&data3==0)
{
ctien();
}
//chay lui
while(data0==0&&data1==1&&data2==0&&data3==0)
{
clui();
}
//re trai
while(data0==0&&data1==0&&data2==1&&data3==0)
{
quaytrai();
}
//re phai
while(data0==0&&data1==0&&data2==0&&data3==1)
{
quayphai();
}
//leo le^n
while(data0==0&&data1==0&&data2==1&&data3==1)
{
leolen();
}
//leo xuong
while(data0==1&&data1==1&&data2==0&&data3==0)
{
leoxuong();
}
}
/* Chuong trinh chinh*/
void main()
{
khoitaohethong();
P1=0x00 ,P0 = 0xff;
while(1)
{
tangtoc();
giamtoc();
chonchedo();
//hienthi(0,7-phantram_PWM);
}
}
Tìm hiểu thêm về minhvn09
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