自走車之設計與製作

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The Design And Development Of A Self-propelled Vehicle

作者：連啟翔、張景翔、徐政中、陳俊甫系級：電機工程學系二乙學號：D0032004、D0032168、D0073783、D0073854 開課老師：何子儀課程名稱：微處理機系統實習開課系所：電機工程學系開課學年：101 學年度第 2 學期

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關鍵字關鍵字關鍵字關鍵字：：：：

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i 逢甲大學學生報告 ePaper(2013 年)

Summary

In recent years,the highly developments of modern technologies,most of the electronic products are designed by automation processing,so as to achieve the goal of high efficiency.

Hence,the purpose of this project is to design a self-propelled vehicle based on a microcontroller.

Hope we can design an automated and unattended control of

self-propelled vehicles, but we manufactureself-propelled vehicle whose main purpose is to replace the human resources.

Sense line on the road by themselves, Hope it will be used widely in various domain.

Unmanned self-propelled vehicles use a microcontroller the direct-current motor to drive.

It will along with black tape were arranged on the ground to move the track.

When the car get out of the track route,the car will fix the direction of travel.by the signal sent by infrared sencors

Keyword KeywordKeyword

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i Abstract _i _ii ... ! ... ! ... 16 ... 18 ... 20 ... 21 ... 22 ... 23 (ASM ) ... 30 (LST ) ... 35 ... 48

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1 逢甲大學學生報告 ePaper(2013 年)

8051

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CNY70 8051

2.1

(1)8051 (2)CNY70

(3) 2.1

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12MHz ZTA U1 8051 PSEN 29 ALE 30 VCC 40 GND 20 EA 31 X1 19 X2 18 RST 9 P0.0/AD0 39 P0.1/AD1 38 P0.2/AD2 37 P0.3/AD3 36 P0.4/AD4 35 P0.5/AD5 34 P0.6/AD6 33 P0.7/AD7 32 P1.0 1 P1.1 2 P1.2 3 P1.3 4 P1.4 5 P1.5 6 P1.6 7 P1.7 8 P2.0/A8 21 P2.1/A9 22 P2.2/A10 23 P2.3/A11 24 P2.4/A12 25 P2.5/A13 26 P2.6/A14 27 P2.7/A15 28 P3.0/RXD 10 P3.1/TXD 11 P3.2/INT0 12 P3.3/INT1 13 P3.4/T0 14 P3.5/T1 15 P3.6/WR 16 P3.7/RD 17 20p CAP NP 20p CAP NP D4 LED R12 R R13 R D5 LED R14 R D6 LED J1 HEADER 8 1 2 3 4 5 6 7 8 D1 LED D2 LED D3 LED VCC S7 CNY70 A 1 K 2 C 4 E 3 R16 R R17 R R18 R S8 CNY 70 A 1 K 2 C 4 E 3 R19 R R20 R R21 R R22 R S9 CNY70 A 1 K 2 C 4 E 3 R23 R R24 R VCC VCC R15 R C1 C VCC VCC J2 HEADER 4 1 2 3 4 2.2

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5 逢甲大學學生報告 ePaper(2013 年) 2.1.1 AT89S51 MSC-8051 INTEL MCS-8048 8051 8048 MCS-8051 (1) ROM (2) ROM (3) EPROM

ROM EPROM ROMless ROM(Bytes) RAM(Bytes) 16

8051 8751 8031 4K 128 2 8052 8752 8032 8K 256 3 80C51 87C51 80C31 4K 128 2 2.1 8051 1. 8 CPU 2. 4K Bytes 3. 128 Bytes / 4. 12 MHz( 1us/ ) 5. 2 16 / (Timer/Counter)

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6. 4 8 I/O 32 I/O

7. 128K Bytes 64K Bytes

8. 64K Bytes

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2.1.2 CNY70 I , -2.3 CNY70 2.4 CNY70 2.3 CNY70 2.4 CNY70 CNY70 8051 8051

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9 逢甲大學學生報告 ePaper(2013 年) 8051 37 38 39 0 1 000 001 100 111 CNY70 37 38 39 MSC-51 II CNY70 2.5 CNY70 2.5

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III CNY70 1. 2.6 2.7 (LED ) PN 800nm 2.6 CNY70 2.7 CNY70 2.

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2.1.3 2.10 12V P1.0 P1.3 5V P1.1 P1.2 0V Q1 Q4 Q2 Q3 Q1 Q4 VCE 0.2V 12V 12V P1.1 P1.2 5V P1.0 P1.3 0V Q2 Q3 Q1 Q3 Q2 Q3 VCE 0.2V 12V -12V 2.10

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13 逢甲大學學生報告 ePaper(2013 年) 2.2 (1) (2) 2.2.1 2.11 CNY70 R0 R0 7 1 2 3 4 5 6 7

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15 逢甲大學學生報告 ePaper(2013 年) 2.2.2 7 : • Mode1: 001 • Mode2: 011 • Mode3: 100 • Mode4: 110 • Mode5: 101 • Mode6: 111 • Mode7: 000

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CNY70 1. CNY70 8051 2. 8051 3. : 4. 5. 6. 7. 8.

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U 4.1 4.1 4.1 1. CNY70 2. CNY70 3. CNY70 4.2

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19 逢甲大學學生報告 ePaper(2013 年) 1. CNY70 2. CNY70 3. CNY70 4. CNY70 5. CNY70

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1. 90 2. CYN70 5.1 1. CNT70 2. CNY70

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Capture Layout

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4 17 4 20 4 24 4 30 ( ) ( ) ( ) ( ) 5 01 5 04 5 10 5 15 Capture ( ) ( ) ( ) Layout ( ) 5 18 5 21 5 22 5 25 ( ) ( ) ( ) ( ) 5 28 6 07 6 08 6 09 ( ) PPT ( ) ( ) ( )

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8051 LAYOUT

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PPT

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ORCAD

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8051 PCB 85% 6V 4.5v

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CNY70 8051 CNY70

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-

CNY70 8051

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(ASM

))))

ORG 0H MAIN: ;0 1 1001 = 0110 = MOV R0,P0 ; P0.0,; 0 ; P0.1,; 0 ; P0.2,; 1 ;ACALL MODE1

START: CJNE R0,#4,NEXT1

ACALL MODE1

; P0.0,; 0

; P0.1,; 1

; P0.2,; 1

;ACALL MODE2

NEXT1: CJNE R0,#6,NEXT2

ACALL MODE2

; P0.0,; 1

; P0.1,; 0

; P0.2,; 0

;ACALL MODE3

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; P0.0,; 1

; P0.1,; 1

; P0.2,; 0

;ACALL MODE4

ACALL MODE4

; P0.0,; 1

; P0.1,; 0

; P0.2,; 1

;ACALL MODE5

ACALL MODE5

; P0.0,; 1

; P0.1,; 1

; P0.2,; 1

;ACALL MODE6

ACALL MODE6

; P0.0,; 0

; P0.1,; 0

; P0.2,; 0

;ACALL MODE7

NEXT6: CJNE R0,#0,MAIN

ACALL MODE7

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MODE1: ; =L R MOV P1,#01101001B ACALL DELAY1 MOV P1,#01000001B ACALL DELAY2 CJNE R0,#4,OVER1 AJMP MODE1 OVER1: RET MODE2: ; =R MOV P1,#00001001B ACALL DELAY1 MOV P1,#00000001B ACALL DELAY2 CJNE R0,#6,OVER2 AJMP MODE2 OVER2: RET MODE3: ; =L R MOV P1,#10010110B ACALL DELAY1 MOV P1,#00010100B ACALL DELAY2 CJNE R0,#1,OVER3 AJMP MODE3 OVER3: RET MODE4: ; =L MOV P1,#10010000B ACALL DELAY1 MOV P1,#00010000B

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33 逢甲大學學生報告 ePaper(2013 年) ACALL DELAY2 CJNE R0,#3,OVER4 AJMP MODE4 OVER4: RET MODE5: ; =L R MOV P1,#10011001B ACALL DELAY2 CJNE R0,#5,OVER5 AJMP MODE5 OVER5: RET MODE6: ; =L R MOV P1,#01100110B ACALL DELAY1 MOV P1,#01000100B ACALL DELAY2 CJNE R0,#7,OVER6 AJMP MODE6 OVER6: RET MODE7: ; = MOV P1,#00000000B ACALL DELAY2 CJNE R0,#0,OVER7 AJMP MODE7 OVER7: RET DELAY1: ;0.1S MOV R1,#200 DL1: MOV R2,#250 DL2: DJNZ R2,DL2

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DJNZ R1,DL1 RET

DELAY2: ;0.05S & CNY70

MOV R3,#100 DL3: MOV R4,#250 DL4: DJNZ R4,DL4 DJNZ R3,DL3 MOV R0,P0 RET END

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(LST

))))

A51 MACRO ASSEMBLER CAR__1_ 06/13/2013 10:51:09 PAGE 1

MACRO ASSEMBLER A51 V8.02

OBJECT MODULE PLACED IN car (1).OBJ

ASSEMBLER INVOKED BY: C:\Keil\C51\BIN\A51.EXE car (1).asm SET(SMALL) DEBUG EP

LOC OBJ LINE SOURCE

0000 1 ORG 0H 0000 2 MAIN: ;0 1 1001 = 0110 = 0000 A880 3 MOV R0,P0 4 ; P0.0,; 0 5 ; P0.1,; 0 6 ; P0.2,; 1 7 ;ACALL MODE1 0002 B80402 8 START: CJNE R0,#4,NEXT1

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0005 1127 9 ACALL MODE1 10 ; P0.0,; 0 11 ; P0.1,; 1 12 ; P0.2,; 1 13 ;ACALL MODE2 0007 B80602 14 NEXT1: CJNE R0,#6,NEXT2 000A 1137 15 ACALL MODE2 16 ; P0.0,; 1 17 ; P0.1,; 0 18 ; P0.2,; 0 19 ;ACALL MODE3 000C B80102 20 NEXT2: CJNE R0,#1,NEXT3 000F 1147 21 ACALL MODE3 22 ; P0.0,; 1 23 ; P0.1,; 1

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37 逢甲大學學生報告 ePaper(2013 年) 24 ; P0.2,; 0 25 ;ACALL MODE4 0011 B80302 26 NEXT3: CJNE R0,#3,NEXT4 0014 1157 27 ACALL MODE4 28 ; P0.0,; 1 29 ; P0.1,; 0 30 ; P0.2,; 1 31 ;ACALL MODE5 0016 B80502 32 NEXT4: CJNE R0,#5,NEXT5 0019 1167 33 ACALL MODE5 34 ; P0.0,; 1 35 ; P0.1,; 1 36 ; P0.2,; 1 37 ;ACALL MODE6 001B B80702 38 NEXT5: CJNE R0,#7,NEXT6

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001E 1175 39 ACALL MODE6 40 ; P0.0,; 0 41 ; P0.1,; 0 42 ; P0.2,; 0 43 ;ACALL MODE7 0020 B800DD 44 NEXT6: CJNE R0,#0,MAIN 0023 1185 45 ACALL MODE7 0025 80D9 46 SJMP MAIN 47 0027 48 MODE1: ; =L R 0027 759069 49 MOV P1,#01101001B 002A 1190 50 ACALL DELAY1 002C 759041 51 MOV P1,#01000001B 002F 1199 52 ACALL DELAY2 0031 B80402 53 CJNE R0,#4,OVER1 0034 0127 54 AJMP MODE1 0036 22 55 OVER1: RET 56

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0037 57 MODE2: ; =R

0037 759009 58 MOV P1,#00001001B

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A51 MACRO ASSEMBLER CAR__1_ 06/13/2013 10:51:09 PAGE 2 003A 1190 59 ACALL DELAY1 003C 759001 60 MOV P1,#00000001B 003F 1199 61 ACALL DELAY2 0041 B80602 62 CJNE R0,#6,OVER2 0044 0137 63 AJMP MODE2 0046 22 64 OVER2: RET 65 0047 66 MODE3: ; =L R 0047 759096 67 MOV P1,#10010110B 004A 1190 68 ACALL DELAY1 004C 759014 69 MOV P1,#00010100B 004F 1199 70 ACALL DELAY2 0051 B80102 71 CJNE R0,#1,OVER3 0054 0147 72 AJMP MODE3 0056 22 73 OVER3: RET 74 0057 75 MODE4: ; =L

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41 逢甲大學學生報告 ePaper(2013 年) 0057 759090 76 MOV P1,#10010000B 005A 1190 77 ACALL DELAY1 005C 759010 78 MOV P1,#00010000B 005F 1199 79 ACALL DELAY2 0061 B80302 80 CJNE R0,#3,OVER4 0064 0157 81 AJMP MODE4 0066 22 82 OVER4: RET 83 0067 84 MODE5: ; =L R 0067 759099 85 MOV P1,#10011001B 006A 1199 86 ACALL DELAY2 006C 759011 87 MOV P1,#00010001B 006F B80502 88 CJNE R0,#5,OVER5 0072 0167 89 AJMP MODE5 0074 22 90 OVER5: RET 91 0075 92 MODE6: ; =L R 0075 759066 93 MOV P1,#01100110B 0078 1190 94 ACALL DELAY1

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007A 759044 95 MOV P1,#01000100B 007D 1199 96 ACALL DELAY2 007F B80702 97 CJNE R0,#7,OVER6 0082 0175 98 AJMP MODE6 0084 22 99 OVER6: RET 100 0085 101 MODE7: ; = 0085 759000 102 MOV P1,#00000000B 103 0088 1199 104 ACALL DELAY2 008A B80002 105 CJNE R0,#0,OVER7 008D 0185 106 AJMP MODE7 008F 22 107 OVER7: RET 108 0090 109 DELAY1: ;0.1S 0090 79C8 110 MOV R1,#200 0092 7AFA 111 DL1: MOV R2,#250 0094 DAFE 112 DL2: DJNZ R2,DL2 0096 D9FA 113 DJNZ R1,DL1 0098 22 114 RET 0099 115 DELAY2: ;0.05S & CNY70

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43 逢甲大學學生報告 ePaper(2013 年) 0099 7B64 116 MOV R3,#100 009B 7CFA 117 DL3: MOV R4,#250 009D DCFE 118 DL4: DJNZ R4,DL4 009F DBFA 119 DJNZ R3,DL3

00A1 A880 120 MOV R0,P0

00A3 22 121 RET 122 123 END

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A51 MACRO ASSEMBLER CAR__1_ 06/13/2013 10:51:09 PAGE 3

SYMBOL TABLE LISTING --- --- --- N A M E T Y P E V A L U E ATTRIBUTES DELAY1 . . . C ADDR 0090H A DELAY2 . . . C ADDR 0099H A DL1. . . C ADDR 0092H A DL2. . . C ADDR 0094H A DL3. . . C ADDR 009BH A DL4. . . C ADDR 009DH A MAIN . . . C ADDR 0000H A MODE1. . . C ADDR 0027H A MODE2. . . C ADDR 0037H A MODE3. . . C ADDR 0047H A MODE4. . . C ADDR 0057H A MODE5. . . C ADDR 0067H A MODE6. . . C ADDR 0075H A MODE7. . . C ADDR 0085H A NEXT1. . . C ADDR 0007H A NEXT2. . . C ADDR 000CH A NEXT3. . . C ADDR 0011H A NEXT4. . . C ADDR 0016H A NEXT5. . . C ADDR 001BH A NEXT6. . . C ADDR 0020H A OVER1. . . C ADDR 0036H A OVER2. . . C ADDR 0046H A OVER3. . . C ADDR 0056H A OVER4. . . C ADDR 0066H A OVER5. . . C ADDR 0074H A OVER6. . . C ADDR 0084H A OVER7. . . C ADDR 008FH A P0 . . . D ADDR 0080H A

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P1 . . . D ADDR 0090H A START. . . C ADDR 0002H A

REGISTER BANK(S) USED: 0

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