避障機(jī)器人設(shè)計(jì)與調(diào)試講解

避障機(jī)器人設(shè)計(jì)與調(diào)試 、實(shí)訓(xùn)目的 1 了解機(jī)器人大賽中避障的規(guī)則，進(jìn)一步理解電機(jī)和紅外測(cè)距傳感器的原理； 2 掌握避障機(jī)器人的設(shè)計(jì)方法。 二、實(shí)訓(xùn)設(shè)備 1 硬件： HOST 機(jī)一臺(tái)、基于機(jī)器人項(xiàng)目驅(qū)動(dòng)的嵌入式教學(xué)實(shí)訓(xùn)平臺(tái)一套； 2 軟件： WIN2000 或 xp 操作系統(tǒng)、 Siliconlab IDE 開(kāi)發(fā)環(huán)境、調(diào)試器。 三、實(shí)訓(xùn)原理 實(shí)現(xiàn)避障的功能從原理上是通過(guò)分析紅外測(cè)距傳感器的測(cè)量值判斷障礙物的位置， 120 然后驅(qū)動(dòng)電機(jī)避開(kāi)障礙物。通過(guò)連接三個(gè)紅外測(cè)距傳感器，機(jī)器人可以探測(cè)到 度的視角范圍的障礙物。 磯耦人IT動(dòng) 四、實(shí)訓(xùn)步驟 1、正確連接PC機(jī)、調(diào)試器和基于機(jī)器人項(xiàng)目驅(qū)動(dòng)的嵌入式教學(xué)實(shí)訓(xùn)平臺(tái)； 2、打開(kāi)電源,打開(kāi)Siliconlab IDE ; 3、打開(kāi)避障的例程，正確調(diào)試并運(yùn)行該程序。 4、燒錄完成后斷電拔掉調(diào)試器，把組裝好的機(jī)器人放入模擬的參賽場(chǎng)地，再次打開(kāi)電 源，觀察機(jī)器人避障的情況。 void main() { unsigned int ad_test; unsigned int i = 0; SystemInit(); while(1) { DodgeObstruction(); void DodgeObstruction() { unsigned char ad_distance_left = 0; unsigned char ad_distance_midl = 0; unsigned char ad_distance_rigt = 0; while(1) { ad_distance_left = GetIR_Distance(2); ad_distance_midl = GetIR_Distance(3); ad_distance_rigt = GetIR_Distance(4); if(ad_distance_left>40 && ad_distance_midl>40 && ad_distance_rigt>40) { DC_Motor(1,0,60); DC_Motor(3,0,60); DC_Motor(2,0,60); DC_Motor(4,0,60); } if(ad_distance_rigt<40) { DC_Motor(1,0,60); DC_Motor(3,0,60); DC_Motor(2,2,10); DC_Motor(4,2,10); } if(ad_distance_midl<40) { DC_Motor(1,2,70); DC_Motor(3,2,70); DC_Motor(2,2,70); DC_Motor(4,2,70); } if(ad_distance_left<40) { DC_Motor(1,2,10); DC_Motor(3,2,10); DC_Motor(2,0,60); DC_Motor(4,0,60); } } } void DC_Motor(unsigned char motor_num,unsigned char direction, unsigned char motor_speed) { unsigned char SFRPAGE_save = SFRPAGE; SFRPAGE = CONFIG_PAGE; if(!motor_speed) { switch(motor_num) { case 1: PCA0CPH0 = 255; break; case 2: PCA0CPH1 = 255; break; case 3: PCA0CPH2 = 255; break; case 4: PCA0CPH3 = 255; break; case 5: PCA0CPH4 = 255; break; case 6: PCA0CPH5 = 255; break; default: break; } } else switch(motor_num) { case 1: PCA0CPH0 = 255 - (motor_speed+116); break; case 2: PCA0CPH1 = 255 - (motor_speed+116); break; case 3: PCA0CPH2 = 255 - (motor_speed+116); break; case 4: PCA0CPH3 = 255 - (motor_speed+116); Break; case 5: PCA0CPH4 = 255 - (motor_speed+116); break; case 6: PCA0CPH5 = 255 - (motor_speed+116); break; default: break; } switch(direction) { case 0: if(motor_num==1) P3 &= ~0x20; //P1.3 = 0, 即 DIR0 置 0 if(motor_num==2) P1 &= ~0x10; //P1.4 = 0, 即 DIR1 置 0 if(motor_num==3) P1 &= ~0x20; //P1.5 = 0, 即 DIR2 置 0 if(motor_num==4) P1 &= ~0x40; //P1.6 = 0, 即 DIR3 置 0 if(motor_num==5) P3 &= ~0x40; //P3.6 = 0, 即 DIR4 置 0 break; case 1: if(motor_num==1) PCA0CPH0 = 255; if(motor_num==2) PCA0CPH1 = 255; if(motor_num==3) PCA0CPH2 = 255; if(motor_num==4) PCA0CPH3 = 255; if(motor_num==5) PCA0CPH4 = 255; if(motor_num==6) PCA0CPH5 = 255; break; case 2: if(motor_num==1) P3 |= if(motor_num==2) P1 |= 0x20; 0x10; //P3.5 = //P1.4 = 1,即 1,即 DIR0 置 1； DIR1 置 1； if(motor_num==3) P1 |= 0x20; //P1.5 = 1,即 DIR2 置 1； if(motor_num==4) P1 |= 0x40; //P1.6 = 1,即 DIR3 置 1； if(motor_num==5) P3 |= 0x40; //P3.6 = 1,即 DIR4 置 1； break; default: break; } SFRPAGE = SFRPAGE_save;