AVR microcontroller PWM speed regulation program and schematic diagram

Source program:

#include

#include

#define uint unsigned int

#define uchar unsigned char

#define Left OCR1A

#define Right OCR1B

#define ADD 1.15; //macro definition, acceleration coefficient

flying i;

uchar flag; //Whether to decelerate flag

float TCRT5000_IN;

uint Max_Speed;

uchar Min_Speed;

/*************************************************

Function name: Init_TCRT5000

Function: Initialize infrared sensor TCRT5000

Function description: Set the PA port as input and monitor the sensor signal **********/

void Init_TCRT5000()

{

DDRA = 0X00;

PORT = 0XFF;

}

/*************************************************

Function name: Max()

Function: Determine the maximum speed

Function description: Determine the maximum speed and put its value into Max_Speed*****/

void Max()

{

if(Left >= Right)

{

  Max_Speed = Left * ADD;

}

else

{

  Max_Speed = Right * ADD;

}

if(Max_Speed >= 0xf7)

{

  Max_Speed = 0xf7;

}

Min_Speed = 0x20 ;

}

/*************************************************

Function name: Scan_TCRT5000

Function: TCRT5000 scans and returns information

Function description: **********/

void Scan_TCRT5000()

{

TCRT5000_IN = PINA&0x1F;

switch(TCRT5000_IN)

{

   /* OOOOO *///Total destruction

   case 0x00:

       break;

   /* ***** *///Zenryo

   case 0x1f:

       OCR1A=0x00;

       OCR1B=0x00;

           break; 

   /*  O*OOO  */

   case 0x08:

       OCR1A=Min_Speed;

           OCR1B=Max_Speed;

           break;

   /*  *OOOO  */

   case 0x10:

       OCR1A=Min_Speed;

           OCR1B=Max_Speed;

              break;

   /* OR**YES */

   case 0x0c:

       OCR1A=Min_Speed;

           OCR1B=Max_Speed;

           break;

   /*  **OOO  */

   case 0x18:

       OCR1A=Min_Speed;

           OCR1B=Max_Speed;

           break;

    /*  ***00*/

    case 0x1c:

       OCR1A=Min_Speed;

           OCR1B=Max_Speed;

           break;

   /*  OOO*O  */

   case 0x02:

           OCR1A=Max_Speed;

           OCR1B=Min_Speed;

           break;

   /*  OOOO*  */

   case 0x01:

       OCR1A=Max_Speed;

           OCR1B=Min_Speed;

           break;

   /* YES**OR */

   case 0x06:

       OCR1A=Max_Speed;

           OCR1B=Min_Speed;

           break;

   /*  OOO**  */

   case 0x03:

       OCR1A=Max_Speed;

           OCR1B=Min_Speed;

           break;

   /* AND*** */

   case 0x07:

       OCR1A=Max_Speed;

           OCR1B=Min_Speed;

           break;  

   default:

       break;

  }

}

/*************************************************

Function name: Init_Speed

Function: Timer 1 is initialized to generate two PWM signals

Function description: Control the car speed by changing the global variables Left and Right**/

void Init_Speed()

{

DDRD |= 0X30;

TCCR1A=0xA1;

TCCR1B=0x0A;

OCR1A=0xa0;

OCR1B=0xa0;

}

/**********************************************

Function name: Stop

Function: Stop the car

Function description: Right=0, Left=0************************/

void Stop()

{

OCR1A=0x00;

OCR1B=0x00;

}

/**********************************************

Function name: Init_Timer0

Function: Initialize timer 0

Function Description: Initialize timer 0

          Set frequency division to 1024

                  Trigger an interrupt once every 100ms, speed increases by 1**********/

void Init_Timer0()

{

TCCR0 = 0x05;

TCNT0 = 0x00;

TIMSK |= BIT(2);

SREG |= BIT(7);

}

void main()

{

flying speed;

TCRT5000_IN = PINA&0x1F;

Init_Speed();

Init_TCRT5000();

Init_Timer0();

while(1)

{

  TCRT5000_IN = PINA&0x1F;

  while(TCRT5000_IN != 0x04)

  {

   SREG &= ~BIT(7); //Disable interrupt

   Scan_TCRT5000();

   TCRT5000_IN = PINA&0x1F;

   flag = 1;

  }

  while(TCRT5000_IN == 0x04)

  {

   if(flag == 1)

   {

           Left = 0xb0;

    Right = 0xb0;

        flag =0;

        SREG |= BIT(7); //Enable interrupt

   } 

   TCRT5000_IN = PINA&0x1F;

  }

}

}

/*Timer 0 interrupt function*/

#pragma interrupt_handler Timer0:10

void Timer0()

{

TCNT0 = 0x00;

i++;

if(i == 100)

{

  i=0; 

  Left++;

  if(Left >= 0xfe)

  {

   Left = 0xfe;

  }

  OCR1B++;

  if(OCR1B >= 0xfe)

  {

   OCR1B = 0xfe;

  }

  Max();

}

}