TI-RSLK循迹小车代码

下面是TI-RSLK循迹小车的代码：

#include <msp432p401r.h>
#include <stdint.h>

#define LEFT_FORWARD    P2->OUT &= ~BIT4; P2->OUT |= BIT5
#define LEFT_REVERSE    P2->OUT &= ~BIT5; P2->OUT |= BIT4
#define LEFT_STOP       P2->OUT &= ~(BIT4 | BIT5)
#define RIGHT_FORWARD   P2->OUT &= ~BIT6; P2->OUT |= BIT7
#define RIGHT_REVERSE   P2->OUT &= ~BIT7; P2->OUT |= BIT6
#define RIGHT_STOP      P2->OUT &= ~(BIT6 | BIT7)
#define BUTTON1         (P1->IN & BIT1)

#define IR_THRESHOLD    15000
#define MAX_SPEED       25000
#define TURN_SPEED      20000
#define MIN_SPEED       10000
#define MAX_TURN_TIME   500000

volatile uint32_t left_speed, right_speed;
volatile uint32_t left_count, right_count;
volatile uint32_t last_left_count, last_right_count;
volatile uint32_t left_turn_time, right_turn_time;
volatile uint32_t count;

void SysTick_Handler(void) {
    left_count = TIMER_A0->R;
    right_count = TIMER_A1->R;
    left_speed = (last_left_count - left_count) * 1000 / 33;
    right_speed = (last_right_count - right_count) * 1000 / 33;
    last_left_count = left_count;
    last_right_count = right_count;
    count++;
}

void delay(uint32_t time) {
    volatile uint32_t i;
    for (i = 0; i < time; i++);
}

void turn_left(void) {
    LEFT_REVERSE;
    RIGHT_FORWARD;
    delay(left_turn_time);
    LEFT_FORWARD;
    RIGHT_FORWARD;
}

void turn_right(void) {
    LEFT_FORWARD;
    RIGHT_REVERSE;
    delay(right_turn_time);
    LEFT_FORWARD;
    RIGHT_FORWARD;
}

int main(void) {
    WDT_A->CTL = WDT_A_CTL_PW | WDT_A_CTL_HOLD;
    P1->SEL0 &= ~BIT1;
    P1->SEL1 &= ~BIT1;
    P1->DIR &= ~BIT1;
    P1->REN |= BIT1;
    P1->OUT |= BIT1;
    P2->DIR |= BIT4 | BIT5 | BIT6 | BIT7;
    P2->OUT &= ~(BIT4 | BIT5 | BIT6 | BIT7);
    SysTick_Config(SystemCoreClock / 1000);
    TIMER_A0->CTL = TIMER_A_CTL_SSEL__SMCLK | TIMER_A_CTL_MC__CONTINUOUS | TIMER_A_CTL_IE;
    TIMER_A0->CCTL[0] = TIMER_A_CCTLN_CM__NONE | TIMER_A_CCTLN_CCIS__CCIA | TIMER_A_CCTLN_CCIE;
    TIMER_A1->CTL = TIMER_A_CTL_SSEL__SMCLK | TIMER_A_CTL_MC__CONTINUOUS | TIMER_A_CTL_IE;
    TIMER_A1->CCTL[0] = TIMER_A_CCTLN_CM__NONE | TIMER_A_CCTLN_CCIS__CCIA | TIMER_A_CCTLN_CCIE;
    left_turn_time = MAX_TURN_TIME;
    right_turn_time = MAX_TURN_TIME;
    while (1) {
        if (BUTTON1 == 0) {
            while (BUTTON1 == 0);
            if (left_turn_time == MAX_TURN_TIME) {
                left_turn_time = MIN_SPEED;
                right_turn_time = TURN_SPEED;
            } else {
                left_turn_time = MAX_TURN_TIME;
                right_turn_time = MAX_TURN_TIME;
            }
        }
        if (count >= 100) {
            count = 0;
            if (left_speed > IR_THRESHOLD && right_speed > IR_THRESHOLD) {
                LEFT_FORWARD;
                RIGHT_FORWARD;
            } else if (left_speed < IR_THRESHOLD && right_speed > IR_THRESHOLD) {
                turn_left();
            } else if (left_speed > IR_THRESHOLD && right_speed < IR_THRESHOLD) {
                turn_right();
            } else {
                LEFT_STOP;
                RIGHT_STOP;
            }
        }
    }
}

这个代码实现了循迹小车的基本功能，包括前进、左转、右转和停止。在代码中，使用了两个定时器（TIMER_A0和TIMER_A1）来计算左右轮子的速度，然后根据红外传感器的数据来控制小车的行动。同时，代码还支持手动控制小车的转向，只需要按下P1.1的按钮即可。