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1、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)避開障礙物。通過連接三個(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、打開電源,打

2、開Siliconlab IDE ;3、打開避障的例程，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_

3、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_dis

4、tance_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);voidDC_Motor(unsigned char

5、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;ca

6、se 6:PCA0CPH5 = 255;break; default: break;elseswitch(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)

7、; 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0if(motor_num=2) P1 &=0x10; /P1.4 = 0,即DIR1置0if(motor_num=3) P1 &=0x20; /P1.5 = 0,即DIR2置0if(motor_num=4) P1 &=0x40; /P1.6 = 0,即DIR3置0if(motor_num=

8、5) P3 &=0x40; /P3.6 = 0,即DIR4置0break;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;