光源不论怎么移动电机都不会偏转

1万 · 2020-9-1 19:50

点光源追踪代码，是要在一个太阳能电池板上四个角安装四个光敏三极管然后根据光敏三极管产生的电压在单片机进行比较，从而控制电机偏转来跟踪点光源。但是现在烧录程序之后点光源不论怎么移动电机都不会偏转

1万 · 2020-9-1 19:57

楼主程序可以公开吗？贴程序看下吧，这么说看不出什么原因

1万 · 2020-9-1 20:01

#include "msp430g2553.h"
#define uint unsigned int
#define uchar unsigned char
unsigned int a[32],b[4];
unsigned int i=50,j=50;

void delay(uint z);
void pwm();
void circle();

void main( void )
{
P1OUT=0x00;
WDTCTL = WDTPW + WDTHOLD;
BCSCTL1 = CALBC1_1MHZ;
DCOCTL = CALDCO_1MHZ;
pwm();
while(1)
  {
ADC10CTL0 = ADC10SHT_2 + ADC10ON + ADC10IE; // ADC10ON, interruptenabled
ADC10CTL0 |= 0x0020;
ADC10CTL1 = INCH_4;                      // input A1
ADC10AE0 |= 0x10;                      // PA.1 ADC option select
ADC10CTL0 |= ENC + ADC10SC;          // Sampling and conversion start
__bis_SR_register(CPUOFF + GIE);    // LPM0, ADC10_ISR will force exit
b[1]=ADC10MEM;
delay(2);
ADC10CTL0 = ADC10SHT_2 + ADC10ON + ADC10IE; //ADC10ON, interrupt enabled
ADC10CTL0 |= 0x0020;
ADC10CTL1 = INCH_3;                      // input A3
ADC10AE0 |= 0x08;                      // PA.3 ADC option select
ADC10CTL0 |= ENC + ADC10SC;          // Sampling and conversion start
__bis_SR_register(CPUOFF + GIE);    // LPM0, ADC10_ISR will force exit
b[3]=ADC10MEM;
delay(2);
ADC10CTL0 = ADC10SHT_2 + ADC10ON + ADC10IE; // ADC10ON, interruptenabled
ADC10CTL0 |= 0x0020;
ADC10CTL1 = INCH_0;                      // input A0
ADC10AE0 |= 0x01;                      // PA.0 ADC option select
ADC10CTL0 |= ENC + ADC10SC;          // Sampling and conversion start
__bis_SR_register(CPUOFF + GIE);       // LPM0, ADC10_ISR will force exit
b[0]=ADC10MEM;
delay(2);
ADC10CTL0 = ADC10SHT_2 + ADC10ON + ADC10IE; // ADC10ON, interruptenabled
ADC10CTL0 |= 0x0020;
ADC10CTL1 = INCH_5;                      // input A2
ADC10AE0 |= 0x20;                      // PA.2 ADC option select
ADC10CTL0 |= ENC + ADC10SC;          // Sampling and conversion start
__bis_SR_register(CPUOFF + GIE);    // LPM0, ADC10_ISR will force exit
b[2]=ADC10MEM;
delay(2);
if(b[1]>b[3])
{
   if(b[1]-b[3]>150)
   {
   CCR1=CCR1+i;
   delay(300);
   i=i+3;
   }
}
if(b[3]>b[1])
{
   if(b[3]-b[1]>150)
   {
   CCR1=CCR1-i;
   delay(300);
   i=i+3;
   }
}
if(b[0]>b[2])
{
   if(b[0]-b[2]>150)
   {
   CCR2=CCR2+j;
   delay(300);
   j=j+3;
   }
}
   if(b[2]>b[0])
{
   if(b[2]-b[0]>150)
   {
   CCR2=CCR2-j;
   delay(300);
   j=j+3;
   }
}

  }
}

void pwm()
{
  P1DIR|=BIT6;
P1SEL|=BIT6;
  P2DIR|=BIT4;
  P2SEL|=BIT4;
TACTL|= MC_1+TASSEL_2;
  TACCTL1= OUTMOD_7;
  TACCR0= 20000;
  TACCR1= 1000 ;
  TACCR2= 1000;
}
void delay(uint z)
{
uint i,j;
for(i=210;i>0;i--)
for(j=z;j>0;j--);
}
#pragma vector=ADC10_VECTOR
__interrupt void ADC10_ISR(void)
{
__bic_SR_register_on_exit(CPUOFF);    // Clear CPUOFF bit from 0(SR)
}

2万 · 2020-9-1 20:05

仔细检查输出语句

1万 · 2020-9-1 20:09

应该与输出有关

2万 · 2020-9-1 20:12

用的是ADC0809，貌似也有这样的问题

2万 · 2020-9-1 20:19

采到数据没有？还有就是光敏器件输出有信号没有呢？

2万 · 2020-9-1 20:23

建议分模块分别调试

2万 · 2020-9-1 20:27

先看四个光敏三极管能不能识别到点光源，以及光线的强弱

2万 · 2020-9-1 20:30

调试看电机控制是否正常，给定样本数据电机能否转到相应位置

1万 · 2020-9-1 20:34

唉，还是没有什么结果，算了，多谢大家啦

光源不论怎么移动电机都不会偏转

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